From 1cc1ed154419fa569edb2aef0f95384341f675dc Mon Sep 17 00:00:00 2001
From: li-shihao-code <2469171725@qq.com>
Date: Mon, 4 May 2026 10:42:25 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E5=AE=8C=E5=96=84=E7=BB=93=E6=9E=84?=
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 agv_calib_brain/src/simulation/README.md      |  145 +
 .../simulation/isaac_workshop_sim/README.md   |   41 +
 .../ackermann_front_steer_rear_drive.urdf     |  348 +++
 .../scripts/build_calibration_room.py         | 2420 +++++++++++++++++
 .../legacy_calibration_sim}/CMakeLists.txt    |    0
 .../launch/calibration_system.launch.py       |    0
 .../legacy_calibration_sim}/package.xml       |    0
 .../legacy_calibration_sim}/urdf/agv.xacro    |    0
 .../urdf/calibration_board.xacro              |    0
 .../urdf/workshop_sensors.xacro               |    0
 .../worlds/calibration_room.world             |    0
 .../tools/external_pose_wifi6_bridge.py       |  167 ++
 .../tools/isaac_vehicle_unified_agent_sim.py  |  248 ++
 .../src/simulation/tools/launch_sim_stack.py  |  358 +++
 .../src/simulation/tools/sim_profile.py       |   98 +
 .../tools/smoke_test_vehicle_agent.py         |  354 +++
 .../tools/smoke_test_vehicle_sensor_agent.py  |  239 ++
 .../tools/smoke_test_workshop_orchestrator.py |  617 +++++
 .../tools/vehicle_wifi6_gateway_sim.py        |  178 ++
 .../tools/workshop_sensor_ingest_sim.py       |  358 +++
 .../simulation/vehicle_agent_sim/README.md    |  113 +
 .../scripts/isaac_vehicle_agent_sim.py        | 1300 +++++++++
 .../vehicle_sensor_agent_sim/README.md        |   79 +
 .../scripts/isaac_vehicle_sensor_agent_sim.py |  554 ++++
 agv_calib_brain/src/site_deployment/README.md |   13 +
 .../vehicle_agent_real/README.md              |   14 +
 .../vehicle_agent_windows/CMakeLists.txt      |    0
 .../vehicle_agent_windows/docs/protocol.md    |   20 +-
 .../vehicle_agent_windows/frame_codec.py      |   10 +
 .../include/chassis_domain_server.hpp         |    0
 .../include/chassis_handler.hpp               |    0
 .../include/control_domain_server.hpp         |    0
 .../include/control_handler.hpp               |    0
 .../include/data_types.hpp                    |   28 +-
 .../include/frame_codec.hpp                   |    0
 .../src/chassis_domain_server.cpp             |    0
 .../src/control_domain_server.cpp             |    0
 .../vehicle_agent_windows/src/main.cpp        |    0
 agv_calib_brain/src/win_ubuntu_bridge.zip     |  Bin 5229212 -> 0 bytes
 .../msg/TrajectoryTrackingTask.msg            |   11 -
 .../launch/vehicle_agent_gateway.launch.py    |   23 -
 agv_calib_brain/stop_isaac_real_sim_stack.sh  |  129 +
 models/ack_m.usd                              |    3 +
 491 files changed, 14953 insertions(+), 1336 deletions(-)
 create mode 100644 agv_calib_brain/.codex
 create mode 100644 agv_calib_brain/.isaac_cache/ack_m_isaac_fixed.urdf
 create mode 100644 agv_calib_brain/.isaac_cache/ack_m_isaac_fixed.usd
 create mode 100644 agv_calib_brain/.isaac_cache/checkerboard.png
 create mode 100644 agv_calib_brain/.isaac_cache/down_camera_charuco.png
 create mode 100644 agv_calib_brain/.isaac_cache/workshop_scene_manifest.json
 create mode 100644 agv_calib_brain/README.md
 create mode 100644 agv_calib_brain/SIMULATION_GUIDE.md
 create mode 100755 agv_calib_brain/run_isaac_real_sim_test.sh
 delete mode 100644 agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp
 delete mode 100644 agv_calib_brain/src/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py
 delete mode 100644 agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp
 rename agv_calib_brain/src/{UI => apps/operator_ui}/README.md (95%)
 rename agv_calib_brain/src/{UI => apps/operator_ui}/main.py (100%)
 rename agv_calib_brain/src/{UI => apps/operator_ui}/requirements.txt (100%)
 rename agv_calib_brain/src/{UI => apps/operator_ui}/standalone_dashboard.py (100%)
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/CMakeLists.txt
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/README.md
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannActuatorState.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannDriveCommand.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/SensorLinkStatus.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleControlMode.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleHealthStatus.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleInternalState.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleSafetyCommand.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleTimeSyncStatus.msg
 create mode 100644 agv_calib_brain/src/communication/vehicle_internal_interfaces/package.xml
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/FILE_TREE.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/action/ExecuteMotionPrimitive.action (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AckermannCalibrationParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AppliedChassisCalibrationParametersResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ArcCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCalibrationParameterSet.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisJobResult.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisMotionPrimitiveType.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisReadinessResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisSpecificParamsType.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisTelemetry.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisValidationSummary.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkMode.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkModeRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommitChassisCalibrationParametersRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommonChassisCalibrationParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CoordinatedSteeringCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DiagonalMotionCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DifferentialCalibrationParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/GetAppliedChassisCalibrationParametersRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/InPlaceRotationCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/LateralTranslationCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ModuleAlignmentCheckCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveTaskPurpose.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MultiSteerWheelCalibrationParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SingleSteerWheelCalibrationParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringModuleCalibrationParam.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringSweepCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StraightLineCommand.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StreamChassisTelemetryRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/msg/WheelModuleState.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/package.xml (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/proto/chassis_calibration.proto (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CancelChassisJob.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CommitChassisCalibrationParameters.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/EmergencyBrake.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetAppliedChassisCalibrationParameters.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisCapability.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobResult.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobStatus.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisReadiness.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/Heartbeat.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/SetChassisWorkMode.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StartMotionPrimitive.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StreamChassisTelemetry.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/action/MonitorJob.action (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/AgentReadinessRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/ErrorCode.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/FileDigest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/FileReference.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/JobAccepted.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/JobQuery.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/JobState.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/JobStatus.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/KeyValuePair.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/Pose3D.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/ReadinessIssue.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/RequestHeader.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/StandardResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/msg/Vector3D.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/package.xml (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto (99%)
 create mode 100644 agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/transport_contract.proto
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/srv/GetAgentReadiness.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/srv/Heartbeat.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_common_interfaces/srv/QueryJobStatus.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/FILE_TREE.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/action/ExecuteControllerEvaluation.action (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/AccelerationDecelerationTask.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ActiveControllerParametersResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/CommitControllerParametersRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlJobResult.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg (68%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg (87%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlValidationSummary.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkMode.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkModeRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskPurpose.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskType.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterKind.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterPack.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterSet.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/GetActiveControllerParametersRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/InjectControllerParametersRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/LQRParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/LateralMPCParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/LongitudinalMPCParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/PIDParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/PurePursuitParams.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/StopAccuracyTask.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/StreamControlTelemetryRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryPoint.msg (100%)
 create mode 100644 agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/msg/VelocityStepTask.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/package.xml (100%)
 rename agv_calib_brain/src/{win_ubuntu_bridge/win_ubuntu_bridge => communication/win_ubuntu_bridge/calibration_control_interfaces}/proto/control_calibration.proto (93%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/CancelControlJob.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/CommitControllerParameters.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/EmergencyStop.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/GetActiveControllerParameters.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobResult.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobStatus.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlReadiness.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/Heartbeat.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/InjectControllerParameters.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/SetControlWorkMode.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/StartControllerEvaluation.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_control_interfaces/srv/StreamControlTelemetry.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/FILE_TREE.txt (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/action/ExecuteExternalLocalizationTask.action (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/AppliedExternalLocalizationResultResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/CommitExternalLocalizationResultRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCalibrationResult.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationJobResult.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationReadinessResponse.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPayloadType.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPurpose.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTelemetry.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationValidationSummary.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkMode.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkModeRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/GetAppliedExternalLocalizationResultRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/MarkerAlignmentTask.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ReferencePoseCollectionTask.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/StreamExternalLocalizationTelemetryRequest.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/TruthSourceValidationTask.msg (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/package.xml (100%)
 rename agv_calib_brain/src/{win_ubuntu_bridge/win_ubuntu_bridge => communication/win_ubuntu_bridge/calibration_external_localization_interfaces}/proto/external_localization.proto (87%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CancelExternalLocalizationJob.srv (100%)
 rename agv_calib_brain/src/{ => communication}/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CommitExternalLocalizationResult.srv (100%)
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 create mode 100644 agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py
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 create mode 100644 agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/transport_contract.proto
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 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithm_template.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithms.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_common.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_service_node.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/launch/chassis_calibration_service_component.launch.py (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/package.xml (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/ackermann_chassis_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithm_template.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithms.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/chassis_calibration_service_node.cpp (100%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/main.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/multi_steer_wheel_chassis_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/chassis_calibration_service/src/single_steer_wheel_chassis_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithm_template.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithms.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_common.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_service_node.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/launch/control_calibration_service_component.launch.py (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/package.xml (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/src/control_calibration_algorithm_template.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/src/control_calibration_service_node.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/src/lqr_control_calibration_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/src/main.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/src/mpc_control_calibration_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/control_calibration_service/src/pid_control_calibration_algorithm.cpp (100%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithm_template.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithms.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_common.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp (52%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp (87%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/package.xml (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/src/external_localization_algorithm_template.cpp (100%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/src/external_reference_executor.cpp (84%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/external_localization_service/src/main.cpp (100%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithm_template.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithms.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_common.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp (75%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/package.xml (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/src/camera_intrinsic_calibration_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/src/hand_eye_calibration_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/src/imu_intrinsic_calibration_algorithm.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/src/main.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/sensor_calibration_service/src/sensor_calibration_algorithm_template.cpp (100%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/vehicle_profile_manager/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp (87%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/vehicle_profile_manager/package.xml (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/vehicle_profile_manager/src/main.cpp (100%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/ANNOTATION_NOTES.md (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/CMakeLists.txt (92%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md (85%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/MIGRATION_NOTES.md (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/README.md (57%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp (70%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/precheck_runner.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/report_builder.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp (69%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/wifi6_link_client.hpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp (94%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/package.xml (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp (50%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp (68%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/main.cpp (100%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp (54%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/report_builder.cpp (81%)
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp (86%)
 create mode 100644 agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/wifi6_link_client.cpp
 rename agv_calib_brain/src/{ => core}/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp (83%)
 create mode 100644 agv_calib_brain/src/deployment/checklists/sim_to_site_checklist.md
 create mode 100644 agv_calib_brain/src/deployment/profiles/sim_workshop.yaml
 create mode 100644 agv_calib_brain/src/deployment/profiles/site_template.yaml
 create mode 100644 agv_calib_brain/src/docs/sim_to_site_code_boundary.md
 create mode 100644 agv_calib_brain/src/simulation/README.md
 create mode 100644 agv_calib_brain/src/simulation/isaac_workshop_sim/README.md
 create mode 100644 agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf
 create mode 100644 agv_calib_brain/src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/launch/calibration_system.launch.py (100%)
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/package.xml (100%)
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/urdf/agv.xacro (100%)
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/urdf/calibration_board.xacro (100%)
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/urdf/workshop_sensors.xacro (100%)
 rename agv_calib_brain/src/{calibration_sim => simulation/legacy_calibration_sim}/worlds/calibration_room.world (100%)
 create mode 100644 agv_calib_brain/src/simulation/tools/external_pose_wifi6_bridge.py
 create mode 100644 agv_calib_brain/src/simulation/tools/isaac_vehicle_unified_agent_sim.py
 create mode 100755 agv_calib_brain/src/simulation/tools/launch_sim_stack.py
 create mode 100755 agv_calib_brain/src/simulation/tools/sim_profile.py
 create mode 100755 agv_calib_brain/src/simulation/tools/smoke_test_vehicle_agent.py
 create mode 100644 agv_calib_brain/src/simulation/tools/smoke_test_vehicle_sensor_agent.py
 create mode 100644 agv_calib_brain/src/simulation/tools/smoke_test_workshop_orchestrator.py
 create mode 100644 agv_calib_brain/src/simulation/tools/vehicle_wifi6_gateway_sim.py
 create mode 100644 agv_calib_brain/src/simulation/tools/workshop_sensor_ingest_sim.py
 create mode 100644 agv_calib_brain/src/simulation/vehicle_agent_sim/README.md
 create mode 100644 agv_calib_brain/src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py
 create mode 100644 agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/README.md
 create mode 100644 agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/scripts/isaac_vehicle_sensor_agent_sim.py
 create mode 100644 agv_calib_brain/src/site_deployment/README.md
 create mode 100644 agv_calib_brain/src/site_deployment/vehicle_agent_real/README.md
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/CMakeLists.txt (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/docs/protocol.md (96%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/frame_codec.py (95%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/include/chassis_domain_server.hpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/include/chassis_handler.hpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/include/control_domain_server.hpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/include/control_handler.hpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/include/data_types.hpp (94%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/include/frame_codec.hpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/src/chassis_domain_server.cpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/src/control_domain_server.cpp (100%)
 rename agv_calib_brain/src/{agv_calib_core => site_deployment/vehicle_agent_real}/vehicle_agent_windows/src/main.cpp (100%)
 delete mode 100644 agv_calib_brain/src/win_ubuntu_bridge.zip
 delete mode 100644 agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg
 delete mode 100644 agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py
 create mode 100755 agv_calib_brain/stop_isaac_real_sim_stack.sh
 create mode 100644 models/ack_m.usd

diff --git a/agv_calib_brain/.codex b/agv_calib_brain/.codex
new file mode 100644
index 0000000..e69de29
diff --git a/agv_calib_brain/.isaac_cache/ack_m_isaac_fixed.urdf b/agv_calib_brain/.isaac_cache/ack_m_isaac_fixed.urdf
new file mode 100644
index 0000000..dace892
--- /dev/null
+++ b/agv_calib_brain/.isaac_cache/ack_m_isaac_fixed.urdf
@@ -0,0 +1,301 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="qykj_ackm">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0174221592416108 0 0.0010674027636553" />
+      <mass value="2.0946205" />
+      <inertia ixx="0.00725227532564324" ixy="1.826574180869E-05" ixz="1.74522061015835E-05" iyy="0.0112392911749803" iyz="-1.16120716894918E-06" izz="0.0572118967643173" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl" />
+      </geometry>
+      <material name="base_material">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="base_footprint">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.01" />
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
+    </inertial>
+    <visual>
+      <geometry>
+        <sphere radius="0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="base_link2base_footprint" type="fixed">
+    <parent link="base_footprint" />
+    <child link="base_link" />
+    <origin rpy="0 0 0" xyz="0 0 0.055" />
+  </joint>
+
+  <link name="left_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="0.085506993927856" />
+      <inertia ixx="0.00342027975711424" ixy="-1.72810689862337E-03" ixz="2.68361824483564E-03" iyy="0.00342027975711424" iyz="1.65092622583439E-04" izz="0.00342027975711424" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl" />
+      </geometry>
+      <material name="steering_hinge_material">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_steering_hinge_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.17831 0.10435 0.0070129" />
+    <parent link="base_link" />
+    <child link="left_steering_hinge" />
+    <axis xyz="0 0 1" />
+    <limit effort="8" lower="-0.5" upper="0.5" velocity="800" />
+    <dynamics damping="0.5" />
+  </joint>
+
+  <link name="right_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="0.085506993927856" />
+      <inertia ixx="0.00342027975711424" ixy="-1.72810689862337E-03" ixz="2.68361824483564E-03" iyy="0.00342027975711424" iyz="1.65092622583439E-04" izz="0.00342027975711424" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl" />
+      </geometry>
+      <material name="steering_hinge_material">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_steering_hinge_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.17831 -0.10435 0.0070129" />
+    <parent link="base_link" />
+    <child link="right_steering_hinge" />
+    <axis xyz="0 0 1" />
+    <limit effort="8" lower="-0.5" upper="0.5" velocity="800" />
+    <dynamics damping="0.5" />
+  </joint>
+
+  <link name="left_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.01 0" />
+      <mass value="0.083615304385799" />
+      <inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl" />
+      </geometry>
+      <material name="wheel_material">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wheel_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0.074 0" />
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+    <limit effort="6" velocity="800" />
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+    <visual>
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+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl" />
+      </geometry>
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+    </visual>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl" />
+      </geometry>
+      <material name="wheel_material">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
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+      <geometry>
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+    </inertial>
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+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl" />
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+      <material name="wheel_material">
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+      </material>
+    </visual>
+    <collision>
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+      <geometry>
+        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl" />
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+    </collision>
+  </link>
+  <joint name="right_rear_wheel_joint" type="continuous">
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+    <parent link="base_link" />
+    <child link="right_rear_wheel" />
+    <axis xyz="0 1 0" />
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+  </joint>
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+  <link name="camera">
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+      <origin rpy="0 0 0" xyz="0 0 0" />
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+    <visual>
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+      </material>
+    </visual>
+    <collision>
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+    <visual>
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+      <geometry>
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+    <child link="imu" />
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+</robot>
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diff --git a/agv_calib_brain/.isaac_cache/workshop_scene_manifest.json b/agv_calib_brain/.isaac_cache/workshop_scene_manifest.json
new file mode 100644
index 0000000..36dd910
--- /dev/null
+++ b/agv_calib_brain/.isaac_cache/workshop_scene_manifest.json
@@ -0,0 +1,840 @@
+{
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+    "vehicle_id": "demo_agv_001",
+    "vehicle_source": "urdf_direct",
+    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "usd_path": null,
+    "stage_prim_path": "/ackermann_front_steer_rear_drive",
+    "drive_wheels": [
+      "rear_left_wheel_link",
+      "rear_right_wheel_link"
+    ],
+    "steer_wheels": [
+      "front_left_wheel_link",
+      "front_right_wheel_link"
+    ],
+    "initial_pose": {
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+      "y_m": 0.0,
+      "z_m": 0.0,
+      "yaw_rad": 0.0
+    }
+  },
+  "workshop": {
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+    "room_width_m": 6.0,
+    "room_height_m": 3.5,
+    "checkerboard": {
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+      "cols": 9,
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+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
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+            "axis_max": 4.82,
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+          }
+        ]
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+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
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+      "squares_y": 10,
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+      "square_size_y_m": 0.09,
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+          "target_type": "down_camera_intrinsic",
+          "pattern": "charuco",
+          "purpose": "intrinsic_calibration_with_depth_and_pose_gradient",
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+            0.028499999999999998
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+          "length_m": 2.7,
+          "width_m": 0.9,
+          "squares_x": 30,
+          "squares_y": 10,
+          "square_size_m": 0.09,
+          "min_height_m": 0.012,
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+          "recommended_speed_mps": 0.1,
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+                0.045
+              ]
+            }
+          ]
+        }
+      ]
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
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+        "target_speed_ms": 0.3
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+        "target_speed_ms": 0.3
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+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 0.82,
+        "y_m": 0.0,
+        "z_m": 0.32,
+        "roll_rad": 0.0,
+        "pitch_rad": -1.5707963267948966,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.3,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 0.46,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 0.24,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": true,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": [
+      {
+        "id": "front_vertical_reference_panel",
+        "wall": "front",
+        "type": "vertical_reference",
+        "position": [
+          4.920000000000001,
+          -2.34,
+          0.88
+        ],
+        "scale": [
+          0.04,
+          0.82,
+          1.6
+        ],
+        "rotation_deg": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "nominal_plane": "x = room_length/2 - standoff - thickness"
+      },
+      {
+        "id": "front_45deg_height_encoding_panel",
+        "wall": "front",
+        "type": "height_encoding_slope",
+        "position": [
+          4.1000000000000005,
+          -1.4,
+          0.88
+        ],
+        "scale": [
+          0.04,
+          0.82,
+          2.262741699796952
+        ],
+        "rotation_deg": [
+          0.0,
+          -45.0,
+          0.0
+        ],
+        "slope_angle_deg": 45.0,
+        "height_to_range_sign": "higher_scan_plane_farther_from_front_wall"
+      },
+      {
+        "id": "right_vertical_reference_panel",
+        "wall": "right",
+        "type": "vertical_reference",
+        "position": [
+          3.87,
+          -2.92,
+          0.88
+        ],
+        "scale": [
+          0.82,
+          0.04,
+          1.6
+        ],
+        "rotation_deg": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "nominal_plane": "y = -room_width/2 + standoff + thickness"
+      }
+    ]
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
diff --git a/agv_calib_brain/README.md b/agv_calib_brain/README.md
new file mode 100644
index 0000000..e896c6b
--- /dev/null
+++ b/agv_calib_brain/README.md
@@ -0,0 +1,134 @@
+# AGV 自动标定车间 - 总述
+
+本项目是 AGV（自动导引车）自动化标定车间的软件系统，用于在车间环境中对 AGV 进行底盘参数标定、运控参数标定、传感器内参/外参标定，以及手眼标定。
+
+## 项目概述
+
+### 核心能力
+
+| 标定类型 | 说明 | 状态 |
+|---------|------|------|
+| 外部真值接入 | 通过外部定位系统（如 OptiTrack、激光雷达定位）获取车辆位姿真值 | ✅ 已验证 |
+| 底盘参数标定 | 标定轮距、轴距、转向角等底盘几何参数 | ✅ 已验证（模板） |
+| 运控参数标定 | 标定横向/纵向控制器的 PID/MPC/LQR 参数 | ✅ 已验证（模板） |
+| 传感器内参标定 | 相机（前视/下视）、IMU 的内参标定 | ✅ 已验证（模板） |
+| 传感器外参标定 | 相机、雷达等传感器相对于车体坐标系的外参标定 | 🚧 待完善 |
+| 手眼标定 | 机械臂与相机之间的变换关系标定 | 🚧 待开发 |
+
+### 技术架构
+
+```
+┌─────────────────────────────────────────────────────────────────┐
+│                         车间工控机（Ubuntu）                      │
+│  ┌─────────────────┐  ┌──────────────┐  ┌─────────────────────┐ │
+│  │ workshop_       │  │ 底盘标定服务  │  │ 传感器标定服务       │ │
+│  │ orchestrator_v2 │  │ chassis_     │  │ sensor_calibration_ │ │
+│  │    (总控)       │  │ calibration  │  │     service         │ │
+│  └────────┬────────┘  └──────────────┘  └─────────────────────┘ │
+│           │                                                      │
+│  ┌────────▼────────┐  ┌──────────────┐  ┌─────────────────────┐ │
+│  │ vehicle_agent_  │  │ 运控标定服务  │  │ 外部位姿服务         │ │
+│  │    gateway      │  │ control_     │  │ external_           │ │
+│  │  (WiFi6/TCP网关) │  │ calibration  │  │ localization_       │ │
+│  └─────────────────┘  └──────────────┘    └─────────────────────┘ │
+└─────────────────────────────────────────────────────────────────┘
+                              │ WiFi6/TCP
+                              ▼
+┌─────────────────────────────────────────────────────────────────┐
+│                         车端电脑（Windows/Linux）                │
+│  ┌─────────────────┐  ┌──────────────┐  ┌─────────────────────┐ │
+│  │   车端 Agent     │  │  底盘控制器   │  │    传感器驱动        │ │
+│  │ (TCP<->CAN/PLC) │  │   (CAN/PLC)  │  │  (相机/雷达/IMU)     │ │
+│  └─────────────────┘  └──────────────┘  └─────────────────────┘ │
+└─────────────────────────────────────────────────────────────────┘
+```
+
+## 目录结构
+
+```
+agv_calib_brain/
+├── src/
+│   ├── core/              # 核心标定逻辑
+│   │   ├── workshop_orchestrator/      # 车间总控编排器
+│   │   ├── chassis_calibration_service/ # 底盘标定服务
+│   │   ├── control_calibration_service/ # 运控标定服务
+│   │   ├── sensor_calibration_service/  # 传感器标定服务
+│   │   ├── external_localization_service/ # 外部位姿服务
+│   │   └── vehicle_profile_manager/    # 车辆画像管理
+│   │
+│   ├── communication/     # 通信层
+│   │   ├── win_ubuntu_bridge/          # 车间<->车端通信桥
+│   │   └── interfaces/                 # ROS2 接口定义
+│   │
+│   ├── simulation/        # 仿真验证
+│   │   ├── isaac_workshop_sim/         # Isaac Sim 标定车间
+│   │   ├── vehicle_agent_sim/          # 仿真车端 Agent
+│   │   ├── vehicle_sensor_agent_sim/   # 仿真传感器 Agent
+│   │   └── tools/                      # 仿真工具脚本
+│   │
+│   ├── deployment/        # 部署配置
+│   │   └── profiles/                   # 仿真/部署配置文件
+│   │
+│   ├── site_deployment/   # 真实现场部署
+│   │   └── (真实车辆 SDK、PLC/CAN 适配)
+│   │
+│   └── apps/              # 操作员工具
+│
+├── run_isaac_real_sim_test.sh    # 一键启动 Isaac 仿真测试
+├── stop_isaac_real_sim_stack.sh  # 停止仿真栈
+├── SIMULATION_GUIDE.md           # 仿真环境启动指南
+└── README.md                     # 本文件
+```
+
+## 快速开始
+
+### 1. 编译
+
+```bash
+cd /home/nvidia/study/AutoCalib-Workshop/agv_calib_brain
+colcon build
+source install/setup.bash
+```
+
+### 2. 一键启动完整仿真
+
+```bash
+# 启动 Isaac + 车端 Agent + 车间总控 + 执行验收
+./run_isaac_real_sim_test.sh --headless
+```
+
+### 3. 查看详细指南
+
+- **仿真启动指南**: [SIMULATION_GUIDE.md](./SIMULATION_GUIDE.md) - 如何单独启动各组件
+- **源码目录说明**: [src/README.md](./src/README.md) - 源码组织结构
+
+## 主要验证场景
+
+| 场景 | 启动方式 | 验证内容 |
+|------|---------|---------|
+| 快速闭环验证 | `launch_sim_stack.py --component vehicle-agent` + `minimal_workshop_demo.launch.py` | 车间总控能创建 session、生成阶段计划、调用车端接口 |
+| Isaac topic 检查 | `run_isaac_real_sim_test.sh --headless`（前半段） | Isaac 能发布传感器和真值 topic |
+| 完整 Isaac 仿真闭环 | `run_isaac_real_sim_test.sh --headless` | 场景、agent、桥接、总控一起运行 |
+| 传感器转发链路 | `--component vehicle-agent,sensor-ingest` | 车端能订阅 Isaac topic，车间端能拉取数据 |
+
+## 四条核心通信链路
+
+| 链路 | 方向 | 功能 | 组件 |
+|------|------|------|------|
+| 外部真值链路 | 外部系统 → 车端 | 位姿、速度、时间戳 | `external-pose-bridge` |
+| 底盘链路 | 车间 → 车端 | 下发标定动作、读取遥测 | `vehicle-agent-gateway` |
+| 运控链路 | 车间 → 车端 | 下发控制任务、读取误差 | `vehicle-agent-gateway` |
+| 传感器链路 | 车端 → 车间 | 相机、雷达、IMU 数据 | `sensor-ingest` |
+
+## 开发状态
+
+- ✅ **已完成**: 车间总控编排器、四类标定服务框架、车辆画像管理、Isaac 仿真环境、WiFi6/TCP 通信链路、端到端验收脚本
+- 🚧 **进行中**: 传感器外参标定采样链路、真实算法参数收敛
+- ⏳ **待开发**: 手眼标定、真实现场部署验证
+
+## 关键设计原则
+
+1. **主控只编排流程** - `workshop_orchestrator_v2` 负责阶段调度，具体标定由独立 ROS2 包实现
+2. **仿真与现场分离** - Isaac 代码只在 `simulation/`，真实车辆代码只在 `site_deployment/`
+3. **统一通信协议** - 车间与车端通过 WiFi6/TCP 通信，协议由 `communication/` 定义
+4. **车辆画像驱动** - 车辆能力、传感器配置通过 `vehicle_profile` 描述，支持多车型
diff --git a/agv_calib_brain/SIMULATION_GUIDE.md b/agv_calib_brain/SIMULATION_GUIDE.md
new file mode 100644
index 0000000..f41f66b
--- /dev/null
+++ b/agv_calib_brain/SIMULATION_GUIDE.md
@@ -0,0 +1,150 @@
+# 仿真环境启动指南
+
+本文档说明如何单独启动 Isaac 仿真环境的各个组件。
+
+## 前置条件
+
+```bash
+# 先 source ROS2 环境
+source install/setup.bash
+```
+
+## 单独启动组件
+
+### 1. Isaac 仿真环境
+
+```bash
+# 带可视化界面
+python3 src/simulation/tools/launch_sim_stack.py --component isaac
+
+# headless 模式（无界面）
+python3 src/simulation/tools/launch_sim_stack.py --component isaac --headless
+```
+
+### 2. 仿真车端统一 Agent
+
+包含底盘、运控、传感器数据转发：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+```
+
+### 3. 外部位姿桥
+
+将 Isaac 真值转发给车端：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+```
+
+### 4. 车间侧传感器 Ingest
+
+从车端轮询传感器数据：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+```
+
+### 5. 车间 Gateway
+
+ROS2 节点，对接底盘/运控：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component gateway
+```
+
+## 启动完整仿真链路
+
+### 方式一：一键启动所有仿真组件（不含车间总控）
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component all
+```
+
+### 方式二：分步启动（推荐用于调试）
+
+终端 1 - 启动 Isaac：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component isaac
+```
+
+终端 2 - 启动车端 Agent：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+```
+
+终端 3 - 启动外部位姿桥：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+```
+
+终端 4 - 启动传感器 Ingest：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+```
+
+终端 5 - 启动车间 Gateway：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component gateway
+```
+
+终端 6 - 启动车间总控：
+```bash
+ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py \
+  use_gateway:=true \
+  chassis_host:=127.0.0.1 \
+  control_host:=127.0.0.1 \
+  sensor_registry:=demo_front_camera,demo_down_camera,demo_lidar_3d,demo_lidar_2d,demo_imu
+```
+
+## 验证仿真环境
+
+启动后检查 topic：
+
+```bash
+# 查看 Isaac 发布的传感器数据
+ros2 topic list | grep isaac
+
+# 检查各传感器数据频率
+ros2 topic hz /sensor/front_camera/image_raw
+ros2 topic hz /sensor/down_camera/image_raw
+ros2 topic hz /sensor/lidar_3d/pointcloud
+ros2 topic hz /sensor/lidar_2d/scan
+ros2 topic hz /sensor/imu/data
+
+# 检查外部位姿
+ros2 topic hz /isaac/external_localization/telemetry
+```
+
+## 执行端到端验收测试
+
+仿真环境启动后，执行验收：
+
+```bash
+python3 src/simulation/tools/smoke_test_workshop_orchestrator.py \
+  --verbose-feedback \
+  --no-publish-fake-external-telemetry
+```
+
+## 停止仿真环境
+
+按 `Ctrl+C` 停止各组件，或使用：
+
+```bash
+./stop_isaac_real_sim_stack.sh
+```
+
+## 快捷脚本
+
+也可以使用一键测试脚本（启动所有组件并执行验收）：
+
+```bash
+# 完整测试（启动 + 验收 + 停止）
+./run_isaac_real_sim_test.sh
+
+# 保持运行（不执行验收）
+./run_isaac_real_sim_test.sh --no-smoke --keep-running
+
+# headless 模式
+./run_isaac_real_sim_test.sh --headless
+```
diff --git a/agv_calib_brain/run_isaac_real_sim_test.sh b/agv_calib_brain/run_isaac_real_sim_test.sh
new file mode 100755
index 0000000..ceae4a7
--- /dev/null
+++ b/agv_calib_brain/run_isaac_real_sim_test.sh
@@ -0,0 +1,499 @@
+#!/usr/bin/env bash
+# 一键启动 Isaac 真实仿真闭环测试。
+#
+# 默认流程：
+# 1. 使用 conda 环境 AutoCalib_Workshop 启动 Isaac 标定车间；
+# 2. 启动仿真车端统一 agent、外部位姿桥和车间侧传感器 ingest；
+# 3. 启动车间总控 demo；
+# 4. 使用 Isaac 真实发布的真值/传感器数据执行 orchestrator 端到端验收；
+# 5. 验收结束后自动停止后台进程。
+
+set -Eeuo pipefail
+
+WORKSPACE_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+CONDA_ENV_NAME="${CONDA_ENV_NAME:-AutoCalib_Workshop}"
+ROS_LOG_DIR="${ROS_LOG_DIR:-/tmp/roslog}"
+RUN_LOG_ROOT="${RUN_LOG_ROOT:-${WORKSPACE_DIR}/log/isaac_real_sim_$(date +%Y%m%d_%H%M%S)}"
+
+HEADLESS=0
+DO_BUILD=0
+RUN_SMOKE=1
+KEEP_RUNNING=0
+WITH_SENSOR_INGEST=1
+WAIT_FOR_ISAAC_TOPICS=1
+ISAAC_WAIT_SEC="${ISAAC_WAIT_SEC:-180}"
+WORKSHOP_WARMUP_SEC="${WORKSHOP_WARMUP_SEC:-5}"
+START_GRACE_SEC="${START_GRACE_SEC:-2}"
+SMOKE_TASKS=""
+
+PIDS=()
+NAMES=()
+LOGS=()
+CLEANED=0
+
+usage() {
+  cat <<'EOF'
+用法:
+  ./run_isaac_real_sim_test.sh [选项]
+
+默认会验证:
+  1. Isaac 发布外部真值、前视相机、下视相机、3D 雷达、2D 雷达、IMU topic。
+  2. 仿真车端统一 agent、外部位姿桥、车间侧传感器 ingest 都能启动并通信。
+  3. 车间总控能创建 session，并默认执行 external,chassis,control,sensor_intrinsic 阶段。
+  4. 传感器数据能从 Isaac -> 车端 -> WiFi6/TCP -> 车间侧链路流动。
+
+当前不验证:
+  1. 真实底盘参数是否已经收敛。
+  2. 真实相机内参、传感器外参是否已经被算法正确求解。
+  3. 棋盘格角点数量、点云几何质量、时间同步精度等采样质量。
+
+选项:
+  --headless              以 headless 模式启动 Isaac。
+  --build                 启动前先执行 colcon build。
+  --no-smoke              只启动仿真链路，不执行 orchestrator 验收。
+  --keep-running          验收结束后保持仿真链路运行，按 Ctrl+C 停止。
+  --no-sensor-ingest      不启动车间侧传感器 ingest 轮询进程。
+  --skip-topic-check      不等待 Isaac 真值/传感器 topic，直接继续启动后续链路。
+  --isaac-wait-sec SEC    等待 Isaac topic 的最长时间，默认 180 秒。
+  --warmup-sec SEC        总控 demo 启动后等待采集真值历史的时间，默认 5 秒。
+  --tasks LIST            覆盖 smoke_test_workshop_orchestrator.py 的任务列表。
+                          例: external,chassis,control,sensor_intrinsic
+  --conda-env NAME        Isaac 进程使用的 conda 环境，默认 AutoCalib_Workshop。
+  -h, --help              显示帮助。
+
+环境变量:
+  CONDA_ENV_NAME          同 --conda-env。
+  ROS_LOG_DIR             ROS 日志目录，默认 /tmp/roslog。
+  RUN_LOG_ROOT            本脚本各后台进程日志目录。
+
+示例:
+  ./run_isaac_real_sim_test.sh --headless
+  ./run_isaac_real_sim_test.sh --headless --keep-running
+  ./run_isaac_real_sim_test.sh --no-smoke
+EOF
+}
+
+log() {
+  echo "[INFO] $*"
+}
+
+warn() {
+  echo "[WARN] $*" >&2
+}
+
+die() {
+  echo "[ERROR] $*" >&2
+  exit 1
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --headless)
+      HEADLESS=1
+      shift
+      ;;
+    --build)
+      DO_BUILD=1
+      shift
+      ;;
+    --no-smoke)
+      RUN_SMOKE=0
+      KEEP_RUNNING=1
+      shift
+      ;;
+    --keep-running)
+      KEEP_RUNNING=1
+      shift
+      ;;
+    --no-sensor-ingest)
+      WITH_SENSOR_INGEST=0
+      shift
+      ;;
+    --skip-topic-check)
+      WAIT_FOR_ISAAC_TOPICS=0
+      shift
+      ;;
+    --isaac-wait-sec)
+      [[ $# -ge 2 ]] || die "--isaac-wait-sec 需要参数"
+      ISAAC_WAIT_SEC="$2"
+      shift 2
+      ;;
+    --warmup-sec)
+      [[ $# -ge 2 ]] || die "--warmup-sec 需要参数"
+      WORKSHOP_WARMUP_SEC="$2"
+      shift 2
+      ;;
+    --tasks)
+      [[ $# -ge 2 ]] || die "--tasks 需要参数"
+      SMOKE_TASKS="$2"
+      shift 2
+      ;;
+    --conda-env)
+      [[ $# -ge 2 ]] || die "--conda-env 需要参数"
+      CONDA_ENV_NAME="$2"
+      shift 2
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      die "未知参数: $1"
+      ;;
+  esac
+done
+
+resolve_conda_sh() {
+  if [[ -n "${CONDA_SH:-}" && -f "${CONDA_SH}" ]]; then
+    echo "${CONDA_SH}"
+    return 0
+  fi
+
+  local candidate
+  for candidate in \
+    "${HOME}/anaconda3/etc/profile.d/conda.sh" \
+    "${HOME}/miniconda3/etc/profile.d/conda.sh" \
+    "/opt/conda/etc/profile.d/conda.sh"
+  do
+    if [[ -f "${candidate}" ]]; then
+      echo "${candidate}"
+      return 0
+    fi
+  done
+
+  if command -v conda >/dev/null 2>&1; then
+    local base
+    base="$(conda info --base 2>/dev/null || true)"
+    if [[ -n "${base}" && -f "${base}/etc/profile.d/conda.sh" ]]; then
+      echo "${base}/etc/profile.d/conda.sh"
+      return 0
+    fi
+  fi
+
+  return 1
+}
+
+source_ros_env() {
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source "${WORKSPACE_DIR}/install/setup.bash"
+  set -u
+}
+
+cleanup() {
+  if [[ "${CLEANED}" -eq 1 ]]; then
+    return
+  fi
+  CLEANED=1
+
+  if [[ "${#PIDS[@]}" -eq 0 ]]; then
+    return
+  fi
+
+  log "正在停止后台进程..."
+  local i pid name
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      log "发送 SIGINT: ${name} pid=${pid}"
+      kill -INT "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+
+  sleep 3
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      warn "${name} 未退出，发送 SIGTERM: pid=${pid}"
+      kill -TERM "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+
+  sleep 2
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      warn "${name} 仍未退出，发送 SIGKILL: pid=${pid}"
+      kill -KILL "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+}
+
+on_signal() {
+  trap - INT TERM
+  cleanup
+  exit 130
+}
+
+trap cleanup EXIT
+trap on_signal INT TERM
+
+start_bg() {
+  local name="$1"
+  shift
+  local logfile="${RUN_LOG_ROOT}/${name}.log"
+
+  log "启动 ${name}，日志: ${logfile}"
+  "$@" >"${logfile}" 2>&1 &
+  local pid=$!
+  PIDS+=("${pid}")
+  NAMES+=("${name}")
+  LOGS+=("${logfile}")
+
+  sleep "${START_GRACE_SEC}"
+  if ! kill -0 "${pid}" >/dev/null 2>&1; then
+    warn "${name} 启动后立即退出，最近日志如下:"
+    tail -n 120 "${logfile}" >&2 || true
+    exit 1
+  fi
+}
+
+wait_for_tcp_port() {
+  local host="$1"
+  local port="$2"
+  local timeout_sec="$3"
+  local name="$4"
+  local deadline=$((SECONDS + timeout_sec))
+
+  log "等待 ${name} TCP ${host}:${port}"
+  while (( SECONDS < deadline )); do
+    if timeout 1 bash -c "</dev/tcp/${host}/${port}" >/dev/null 2>&1; then
+      log "${name} 已就绪"
+      return 0
+    fi
+    sleep 1
+  done
+
+  warn "等待 ${name} 超时"
+  return 1
+}
+
+wait_for_ros_topic_once() {
+  local topic="$1"
+  local timeout_sec="$2"
+  local deadline=$((SECONDS + timeout_sec))
+  local echo_args=(--qos-reliability best_effort --once "${topic}")
+
+  case "${topic}" in
+    /sensor/front_camera/*|/sensor/down_camera/*|/sensor/lidar_3d/*)
+      echo_args=(--qos-reliability best_effort --once "${topic}" --field header)
+      ;;
+  esac
+
+  log "等待 Isaac topic: ${topic}"
+  while (( SECONDS < deadline )); do
+    if timeout 8s ros2 topic echo "${echo_args[@]}" >/dev/null 2>&1; then
+      log "已收到 topic: ${topic}"
+      return 0
+    fi
+    sleep 2
+  done
+
+  warn "等待 topic 超时: ${topic}"
+  warn "可检查 Isaac 日志: ${RUN_LOG_ROOT}/isaac.log"
+  if [[ -f "${RUN_LOG_ROOT}/isaac.log" ]]; then
+    warn "Isaac 最近日志:"
+    tail -n 120 "${RUN_LOG_ROOT}/isaac.log" >&2 || true
+  fi
+  return 1
+}
+
+wait_for_ros_service() {
+  local service="$1"
+  local timeout_sec="$2"
+  local deadline=$((SECONDS + timeout_sec))
+
+  log "等待 ROS service: ${service}"
+  while (( SECONDS < deadline )); do
+    if ros2 service list 2>/dev/null | grep -qx "${service}"; then
+      log "service 已就绪: ${service}"
+      return 0
+    fi
+    sleep 1
+  done
+
+  warn "等待 service 超时: ${service}"
+  return 1
+}
+
+check_no_existing_workshop_orchestrator() {
+  local nodes
+  nodes="$(timeout 5s ros2 node list 2>/dev/null || true)"
+  if [[ -z "${nodes}" ]]; then
+    return
+  fi
+
+  local count
+  count="$(printf '%s\n' "${nodes}" | grep -xc "/workshop_orchestrator_v2" || true)"
+  if [[ "${count}" -gt 0 ]]; then
+    die "检测到已有 /workshop_orchestrator_v2 节点。请先关闭旧的 workshop-demo/仿真脚本，或执行 ./stop_isaac_real_sim_stack.sh --kill 清理遗留进程，否则 create_session 和 execute_session 可能连到不同实例。"
+  fi
+}
+
+mkdir -p "${ROS_LOG_DIR}" "${RUN_LOG_ROOT}"
+
+if [[ "${DO_BUILD}" -eq 1 ]]; then
+  log "执行 colcon build"
+  (
+    cd "${WORKSPACE_DIR}"
+    set +u
+    if [[ -f /opt/ros/humble/setup.bash ]]; then
+      source /opt/ros/humble/setup.bash
+    fi
+    set -u
+    colcon build
+  )
+fi
+
+[[ -f "${WORKSPACE_DIR}/install/setup.bash" ]] || die "找不到 install/setup.bash，请先执行 colcon build，或使用 --build"
+
+CONDA_SH_PATH="$(resolve_conda_sh || true)"
+[[ -n "${CONDA_SH_PATH}" ]] || die "找不到 conda.sh，无法激活 conda 环境 ${CONDA_ENV_NAME}"
+
+source_ros_env
+
+log "工作空间: ${WORKSPACE_DIR}"
+log "ROS_LOG_DIR: ${ROS_LOG_DIR}"
+log "进程日志目录: ${RUN_LOG_ROOT}"
+log "Isaac conda 环境: ${CONDA_ENV_NAME}"
+
+export PYTHONUNBUFFERED=1
+check_no_existing_workshop_orchestrator
+
+ISAAC_HEADLESS_ARG=""
+if [[ "${HEADLESS}" -eq 1 ]]; then
+  ISAAC_HEADLESS_ARG="--headless"
+fi
+
+start_bg "isaac" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  source '${CONDA_SH_PATH}'
+  conda activate '${CONDA_ENV_NAME}'
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  exec python3 src/simulation/tools/launch_sim_stack.py --component isaac ${ISAAC_HEADLESS_ARG}
+"
+
+if [[ "${WAIT_FOR_ISAAC_TOPICS}" -eq 1 ]]; then
+  wait_for_ros_topic_once "/isaac/external_localization/telemetry" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/front_camera/image_raw" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/down_camera/image_raw" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/lidar_3d/pointcloud" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/imu/data" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/lidar_2d/scan" "${ISAAC_WAIT_SEC}" || exit 1
+fi
+
+start_bg "vehicle-agent" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  exec python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+"
+wait_for_tcp_port "127.0.0.1" 9000 30 "vehicle-agent unified WiFi6" || exit 1
+
+start_bg "external-pose-bridge" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  exec python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+"
+
+if [[ "${WITH_SENSOR_INGEST}" -eq 1 ]]; then
+  start_bg "sensor-ingest" bash -lc "
+    set -Eeuo pipefail
+    cd '${WORKSPACE_DIR}'
+    set +u
+    if [[ -f /opt/ros/humble/setup.bash ]]; then
+      source /opt/ros/humble/setup.bash
+    fi
+    source '${WORKSPACE_DIR}/install/setup.bash'
+    set -u
+    export ROS_LOG_DIR='${ROS_LOG_DIR}'
+    exec python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+  "
+fi
+
+start_bg "workshop-demo" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  exec ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py \
+    use_gateway:=true \
+    chassis_host:=127.0.0.1 \
+    control_host:=127.0.0.1 \
+    sensor_registry:=demo_front_camera,demo_down_camera,demo_lidar_3d,demo_lidar_2d,demo_imu
+"
+
+wait_for_ros_service "/workshop_v2/create_session" 60 || exit 1
+
+log "等待 ${WORKSHOP_WARMUP_SEC}s，让 external_localization_service 累积 Isaac 真值历史"
+sleep "${WORKSHOP_WARMUP_SEC}"
+
+SMOKE_STATUS=0
+if [[ "${RUN_SMOKE}" -eq 1 ]]; then
+  SMOKE_ARGS=(
+    --verbose-feedback
+    --no-publish-fake-external-telemetry
+  )
+  if [[ -n "${SMOKE_TASKS}" ]]; then
+    SMOKE_ARGS+=(--tasks "${SMOKE_TASKS}")
+  fi
+
+  SMOKE_LOG="${RUN_LOG_ROOT}/smoke.log"
+  log "执行 orchestrator 端到端验收，日志: ${SMOKE_LOG}"
+  set +e
+  (
+    cd "${WORKSPACE_DIR}"
+    source_ros_env
+    export ROS_LOG_DIR="${ROS_LOG_DIR}"
+    python3 src/simulation/tools/smoke_test_workshop_orchestrator.py "${SMOKE_ARGS[@]}"
+  ) 2>&1 | tee "${SMOKE_LOG}"
+  SMOKE_STATUS=${PIPESTATUS[0]}
+  set -e
+
+  if [[ "${SMOKE_STATUS}" -eq 0 ]]; then
+    log "仿真闭环验收通过"
+  else
+    warn "仿真闭环验收失败，退出码: ${SMOKE_STATUS}"
+  fi
+else
+  log "已按 --no-smoke 跳过 orchestrator 验收"
+fi
+
+if [[ "${KEEP_RUNNING}" -eq 1 ]]; then
+  log "仿真链路保持运行中。按 Ctrl+C 停止。"
+  while true; do
+    sleep 3600
+  done
+fi
+
+exit "${SMOKE_STATUS}"
diff --git a/agv_calib_brain/src/README.md b/agv_calib_brain/src/README.md
index 7ed7d72..818ced4 100644
--- a/agv_calib_brain/src/README.md
+++ b/agv_calib_brain/src/README.md
@@ -1,141 +1,59 @@
-# 🧠 AGV 标定中央大脑
+# 源码目录结构
 
-**环境**: Ubuntu 22.04 + ROS 2 Humble | **语言**: C++ | **通信**: gRPC over Wi-Fi 6
+`src` 按“仿真、核心逻辑、通信、现场部署”的边界组织，而不是按临时实验文件组织。
 
-> 标定车间的"发令大脑"，通过局域网跨平台遥控 Windows 车端执行动作并拉取遥测数据。
+## 目录说明
 
----
+- `apps/`
+  面向操作人员的工具和界面原型。
 
-## 📋 目录
+- `communication/`
+  ROS 2 接口包、TCP 帧协议、车间工控机到车端电脑的 gateway。这个层应该同时服务于仿真和现场部署。
 
-1. [系统依赖安装](#1-系统依赖一键安装)
-2. [VS Code 插件配置](#2-vs-code-核心插件配置)
-3. [解决 IntelliSense 报错](#3-解决-vs-code-红色波浪线)
-4. [编译与运行](#4-编译与运行)
+- `core/`
+  标定流程和标定算法，包括 `workshop_orchestrator`、底盘标定、运控标定、传感器标定、车辆参数管理等可复用核心逻辑。
 
----
+- `simulation/`
+  部署前仿真验证代码。Isaac 车间、仿真车辆、仿真车端 agent、仿真传感器、仿真标定靶和旧版仿真包都放在这里。
 
-## 1. 系统依赖一键安装
+- `deployment/`
+  部署 profile 和从仿真迁移到现场前的检查清单。这里放配置基准，不放算法实现。
 
-在 Ubuntu 22.04 终端执行以下命令：
+- `docs/`
+  源码树内的设计说明、边界说明和迁移规则。
+
+- `site_deployment/`
+  真实现场部署代码，例如真实车端电脑适配器、真实车辆 SDK、PLC/CAN 或厂商控制器对接代码。
+
+## 边界规则
+
+- Isaac API 只放在 `simulation/`。
+- 真实车辆 SDK、PLC、CAN、厂商控制器相关代码只放在 `site_deployment/`。
+- ROS 2 接口、TCP 协议和 gateway 放在 `communication/`。
+- 编排流程和标定算法放在 `core/`。
+- 部署 profile 放在 `deployment/`。
+- 设计说明和迁移边界说明放在 `docs/`。
+
+## 主要入口
+
+Isaac 车间仿真：
 
 ```bash
-sudo apt update
-sudo apt install -y build-essential cmake pkg-config gdb
-sudo apt install -y protobuf-compiler-grpc libgrpc++-dev libprotobuf-dev protobuf-compiler
+python3 src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
 ```
 
-> ⚠️ **警告**: 严禁自行去 GitHub 源码编译 gRPC，直接使用 Ubuntu 官方 APT 源即可，避免浪费时间与报错。
-
----
-
-## 2. VS Code 核心插件配置
-
-打开 VS Code → 扩展商店 (Extensions)，**必须安装**以下 4 个插件：
-
-| 插件名称 | 开发者 | 用途 |
-|---------|--------|------|
-| **C/C++**    | Microsoft | 代码补全与 GDB 调试 |
-| **CMake Tools** | Microsoft | 底部快速构建状态栏 |
-| **ROS** | Microsoft | 自动识别 `colcon` 工作空间 |
-| **vscode-proto3** | zxh404 | `.proto` 文件语法高亮 |
-
----
-
-## 3. 解决 VS Code 红色波浪线 (IntelliSense 报错)
-
-**问题原因**: gRPC 生成的 `.pb.h` 文件在 `colcon build` 阶段动态生成于 `build/` 目录，VS Code 初始无法识别。
-
-**修复步骤**:
-
-1. 按 `Ctrl+Shift+P` → 输入 `C/C++: Edit Configurations (JSON)`
-2. 确保 `c_cpp_properties.json` 包含以下配置：
-
-```json
-{
-    "configurations": [
-        {
-            "name": "ROS2",
-            "includePath": [
-                "${workspaceFolder}/**",
-                "/opt/ros/humble/include/**",
-                "${workspaceFolder}/build/agv_calib_brain/grpc_gen/**"
-            ],
-            "compilerPath": "/usr/bin/gcc",
-            "cStandard": "c17",
-            "cppStandard": "c++17",
-            "intelliSenseMode": "linux-gcc-x64"
-        }
-    ]
-}
-```
-
-> 💡 **提示**: `grpc_gen` 是 CMakeLists 中配置的自动生成源码路径，请根据实际情况微调。
-
----
-
-## 4. 编译与运行 (CMake 自动化)
-
-### 4.0 最小联调闭环
-
-当前仓库已经补齐了一个最小可运行闭环：
-
-- `vehicle_profile_manager`：提供默认车辆画像
-- `external_localization_service`：提供外部真值校核的最小执行端
-- `workshop_orchestrator_v2`：负责编排会话、计划和报告
-
-启动顺序：
+仿真车端 agent：
 
 ```bash
-source /opt/ros/humble/setup.bash
-source install/setup.bash
-ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py
+python3 src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py
 ```
 
-如果只想单独跑编排器：
+按 profile 启动完整仿真链路：
 
 ```bash
-ros2 launch workshop_orchestrator_v2 workshop_orchestrator_v2.launch.py
+python3 src/simulation/tools/launch_sim_stack.py
 ```
 
-可先调用这些接口做联调：
+这条链路中，车间工控机与车端电脑之间的底盘、运控、外部真值位姿和传感器数据都通过 TCP/WiFi6 仿真边界传输；Isaac topic 只留在仿真内部。
 
-- `/vehicle_profile_manager/get_vehicle_profile`
-- `/vehicle_profile_manager/evaluate_vehicle_calibration_applicability`
-- `/external_localization/get_readiness`
-- `/external_localization/execute_task`
-- `/workshop_v2/create_session`
-- `/workshop_v2/execute_session`
-- `/workshop_v2/get_report`
-
-最小会话建议至少包含：
-
-- `session.config.localization_source_id = demo_vehicle_001`
-- `session.config.workcell_zone_id = demo_workcell`
-- 一个 `requested_tasks`，其中 `stage_type = EXTERNAL_REFERENCE_READY_CHECK_STAGE`
-- 该任务的 `task_params` 至少包含：
-  - `external.static_sample_count`
-  - `external.dynamic_sample_count`
-  - `external.max_position_stddev_m`
-  - `external.max_yaw_stddev_rad`
-  - `external.max_tracking_loss_ratio`
-  - `external.max_time_sync_offset_ms`
-  - `external.timeout_sec`
-
-
-> ✨ **无需手动执行 `protoc`** —— CMakeLists.txt 已配置自动化脚本，编译时自动生成 C++ 网络源码。
-
-### 4.1 编译
-
-```bash
-# 回到工作空间根目录（如 ~/agv_ws）
-source /opt/ros/humble/setup.bash
-colcon build --packages-select agv_calib_brain --symlink-install
-```
-
-### 4.2 运行
-
-```bash
-source install/setup.bash
-ros2 run agv_calib_brain brain_node
-```
\ No newline at end of file
+车间 gateway 和 `workshop_orchestrator` 仍然按 ROS 2 包名启动；源码分别在 `communication/` 和 `core/` 下。
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp b/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp
deleted file mode 100644
index 2ff4629..0000000
--- a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "chassis_calibration_service/chassis_calibration_common.hpp"
-
-namespace chassis_calibration_service
-{
-
-bool DifferentialChassisAlgorithm::run(
-  const ChassisCalibrationInput & input,
-  ChassisCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // TODO: 在这里填写差速底盘标定算法。
-  // 算法工程师应从这里读取并计算：
-  // - 任务请求：input.request（request_id、任务目的、selected_primitive、straight_line 参数、timeout 等）
-  // - 底盘反馈：由上层扩展到 ChassisCalibrationInput 中的实时数据（轮速、左右电机反馈、IMU、里程计、定位等）
-  // - 输出：output.response.result（success、error_code、validation_summary、estimated_params、artifacts 等）
-  fill_common_result(input, output);
-  output.response.result.message = "differential chassis template executed.";
-  output.response.result.recommended_parameter_version = "differential_template_v1";
-  return true;
-}
-
-}  // namespace chassis_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp b/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp
deleted file mode 100644
index a9b20dc..0000000
--- a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "control_calibration_service/control_calibration_common.hpp"
-
-namespace control_calibration_service
-{
-
-bool PurePursuitControlCalibrationAlgorithm::run(
-  const ControlCalibrationInput & input,
-  ControlCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // Pure Pursuit 控制标定模板：
-  // 适合基于参考轨迹和前视点策略的横向控制评估。
-  // 算法工程师通常会在这里处理：
-  // 1. 参考轨迹读取：
-  //    - input.reference_trajectory
-  //    - input.reference_stop_at_end / input.reference_timeout_sec
-  // 2. 观测输入：
-  //    - input.control_telemetry_history 中的横向误差、航向误差、转向输出
-  //    - input.chassis_telemetry_history 中的速度、姿态和底盘运动状态
-  //    - input.truth_source_diagnostics / 真值历史，用于判断轨迹对齐是否可靠
-  // 3. 参数输出：
-  //    - 可将前视距离、速度相关增益等写入 output.response.result.estimated_parameter_set
-  // 4. 验收输出：
-  //    - 将最大误差、均方误差、振荡情况、自动验收结论写入 validation_summary
-  fill_common_result(input, output);
-  output.response.result.message = "pure pursuit control calibration template executed.";
-  output.response.result.recommended_parameter_version = "pure_pursuit_template_v1";
-  return true;
-}
-
-}  // namespace control_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp b/agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp
deleted file mode 100644
index 02f81b6..0000000
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "external_localization_service/external_localization_service_node.hpp"
-
-#include <chrono>
-#include <thread>
-
-#include "calibration_common_interfaces/msg/error_code.hpp"
-#include "calibration_common_interfaces/msg/job_state.hpp"
-
-namespace external_localization_service
-{
-
-namespace
-{
-int64_t now_us()
-{
-  return std::chrono::duration_cast<std::chrono::microseconds>(
-           std::chrono::system_clock::now().time_since_epoch())
-    .count();
-}
-}  // namespace
-
-using calibration_common_interfaces::msg::ErrorCode;
-using calibration_common_interfaces::msg::JobState;
-
-ExternalLocalizationServiceNode::ExternalLocalizationServiceNode(const rclcpp::NodeOptions & options)
-: Node("external_localization_service", options)
-{
-  readiness_service_ = create_service<ReadinessSrv>(
-    "/external_localization/get_readiness",
-    std::bind(&ExternalLocalizationServiceNode::handle_readiness, this, std::placeholders::_1, std::placeholders::_2));
-
-  execute_task_action_server_ = rclcpp_action::create_server<ExecuteTask>(
-    this,
-    "/external_localization/execute_task",
-    std::bind(&ExternalLocalizationServiceNode::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
-    std::bind(&ExternalLocalizationServiceNode::handle_cancel, this, std::placeholders::_1),
-    std::bind(&ExternalLocalizationServiceNode::handle_accepted, this, std::placeholders::_1));
-}
-
-void ExternalLocalizationServiceNode::handle_readiness(
-  const std::shared_ptr<ReadinessSrv::Request> request,
-  std::shared_ptr<ReadinessSrv::Response> response)
-{
-  (void)request;
-
-  // 这里先保留最小 readiness 逻辑。
-  // 后续若接入真实外部定位设备/真值源桥接程序，可在这里增加：
-  // - 真值源在线检查
-  // - 同步状态检查
-  // - 覆盖范围检查
-  // - 观测质量检查
-  // - 切源稳定性检查
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "external_localization_service is ready.";
-  response->response.agent_ready = true;
-  response->response.ready_for_reference_validation = true;
-  response->response.checked_timestamp_us = now_us();
-  response->response.validation_summary.time_sync_ok = true;
-  response->response.validation_summary.coverage_ok = true;
-  response->response.validation_summary.quality_ok = true;
-  response->response.validation_summary.tracking_stable = true;
-  response->response.validation_summary.recommended_as_truth_source = true;
-  response->response.validation_summary.position_stddev_m = 0.0;
-  response->response.validation_summary.yaw_stddev_rad = 0.0;
-  response->response.validation_summary.tracking_loss_ratio = 0.0;
-  response->response.validation_summary.time_sync_offset_ms = 0.0;
-}
-
-rclcpp_action::GoalResponse ExternalLocalizationServiceNode::handle_goal(
-  const rclcpp_action::GoalUUID & /*uuid*/,
-  std::shared_ptr<const ExecuteTask::Goal> goal)
-{
-  std::string reject_reason;
-  if (!executor_.validate_goal(*goal, reject_reason)) {
-    RCLCPP_WARN(get_logger(), "Reject external_localization goal: %s", reject_reason.c_str());
-    return rclcpp_action::GoalResponse::REJECT;
-  }
-  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-}
-
-rclcpp_action::CancelResponse ExternalLocalizationServiceNode::handle_cancel(
-  const std::shared_ptr<GoalHandleExecuteTask> /*goal_handle*/)
-{
-  return rclcpp_action::CancelResponse::ACCEPT;
-}
-
-void ExternalLocalizationServiceNode::handle_accepted(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  std::thread(std::bind(&ExternalLocalizationServiceNode::execute_goal, this, goal_handle)).detach();
-}
-
-void ExternalLocalizationServiceNode::execute_goal(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  auto feedback = std::make_shared<ExecuteTask::Feedback>();
-  feedback->feedback.job_id = goal_handle->get_goal()->goal.header.request_id;
-  feedback->feedback.state.state = JobState::RUNNING;
-  feedback->feedback.progress = 0.5;
-  feedback->feedback.error_code.code = ErrorCode::OK;
-  feedback->feedback.message = "external localization task is running.";
-  feedback->feedback.server_timestamp_us = now_us();
-  feedback->feedback.safe_to_retry = false;
-  goal_handle->publish_feedback(feedback);
-
-  auto result = std::make_shared<ExecuteTask::Result>();
-  std::string failure_reason;
-  if (!executor_.build_result(*goal_handle->get_goal(), *result, failure_reason)) {
-    result->result.success = false;
-    result->result.error_code.code = ErrorCode::INVALID_ARGUMENT;
-    result->result.message = failure_reason;
-    goal_handle->abort(result);
-    return;
-  }
-
-  goal_handle->succeed(result);
-}
-
-}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp b/agv_calib_brain/src/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp
deleted file mode 100644
index 3936365..0000000
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-#include "external_localization_service/external_localization_common.hpp"
-
-namespace external_localization_service
-{
-
-bool MarkerAlignmentAlgorithm::run(
-  const ExternalLocalizationInput & input,
-  ExternalLocalizationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 标靶对齐模板：
-  // 【本文件负责什么】
-  // - 负责标靶检测结果读取、坐标系对齐求解和残差统计相关算法实现。
-  // - 后续算法工程师应主要修改本文件，不要改 node 层和模板分发层。
-  //
-  // 【建议优先读取的输入】
-  // 1. input.marker_alignment_task
-  //    - target_board_id、min_valid_observation_count、timeout_sec 等关键约束。
-  // 2. input.latest_external_localization_telemetry / input.external_localization_telemetry_history
-  //    - 读取观测位姿、标准差、丢失率、时间同步偏差和质量评分。
-  // 3. input.marker_alignment_diagnostics
-  //    - 读取标靶检测失败、角点不足、姿态求解不稳定等问题描述。
-  // 4. input.sensor_quality_diagnostics
-  //    - 如果标靶检测依赖相机 / LiDAR 质量，可在这里读取辅助质量信息。
-  //
-  // 【必写输出】
-  // 1. output.response.result.result.workshop_to_localization
-  //    - 这是标靶对齐最核心的输出结果。
-  // 2. output.response.result.result.residual_error_m / residual_error_rad
-  //    - 写回对齐残差，供 orchestrator 判断是否自动验收。
-  // 3. output.response.result.validation_summary
-  //    - 写位置标准差、航向标准差、时间同步偏差等摘要。
-  //
-  // 【可选输出】
-  // - output.response.result.artifacts
-  //   可挂标靶检测日志、可视化结果、拟合报告、残差统计文件等。
-  //
-  // 【常见失败原因】
-  // - 有效观测数不足、标靶检测失败、姿态求解不稳定、时间同步异常、质量评分过低。
-  //
-  // 【在这里添加真实算法】
-  // - 请在 fill_external_localization_common_success(...) 之前或之后补充真实对齐求解逻辑。
-  // - 当前文件仅提供交付模板，不包含真实外部定位算法。
-
-  fill_external_localization_common_success(
-    input,
-    output,
-    "标靶对齐完成。",
-    "demo_external_marker_alignment_v1");
-
-  output.response.result.result.workshop_frame_id = "workshop";
-  output.response.result.result.localization_frame_id = "localization";
-  output.response.result.result.workshop_to_localization.z_m = 0.0;
-  output.response.result.result.position_repeatability_m = 0.0;
-  output.response.result.result.yaw_repeatability_rad = 0.0;
-  output.response.result.result.residual_error_m = 0.0;
-  output.response.result.result.residual_error_rad = 0.0;
-  output.response.result.result.tracking_loss_ratio = 0.0;
-  output.response.result.result.time_sync_offset_ms = 0.0;
-  output.response.result.result.validated_as_truth_source = true;
-  return true;
-}
-
-}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp b/agv_calib_brain/src/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp
deleted file mode 100644
index eb45138..0000000
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-#include "external_localization_service/external_localization_common.hpp"
-
-namespace external_localization_service
-{
-
-bool ReferencePoseCollectionAlgorithm::run(
-  const ExternalLocalizationInput & input,
-  ExternalLocalizationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 参考位姿采集模板：
-  // 【本文件负责什么】
-  // - 负责参考位姿采集与静态重复性分析相关算法实现。
-  // - 后续算法工程师应主要修改本文件，不要改 node 层和模板分发层。
-  //
-  // 【建议优先读取的输入】
-  // 1. input.reference_pose_collection_task
-  //    - sample_count、require_vehicle_static、timeout_sec、min_sample_interval_sec 等采样约束。
-  // 2. input.latest_external_localization_telemetry / input.external_localization_telemetry_history
-  //    - 每帧外部定位位姿、位置标准差、航向标准差、时间同步偏差、质量评分。
-  // 3. input.latest_chassis_telemetry / input.chassis_telemetry_history
-  //    - 用于判断车辆是否真实静止，避免采入无效参考位姿。
-  // 4. input.truth_source_diagnostics / input.acquisition_diagnostics
-  //    - 记录时间同步异常、观测缺失、采样不足、落盘失败等问题。
-  //
-  // 【必写输出】
-  // 1. output.response.result.validation_summary
-  //    - 写位置标准差、航向标准差、时间同步偏差、是否推荐为真值源等摘要。
-  // 2. output.response.result.result
-  //    - 写 workshop_frame_id / localization_frame_id / repeatability / residual 等结果。
-  // 3. output.response.result.suitable_for_commit
-  //    - 明确当前采集结果是否建议进入下一阶段。
-  //
-  // 【可选输出】
-  // - output.response.result.artifacts
-  //   可挂采样日志、原始位姿文件、统计报告等文件引用。
-  //
-  // 【常见失败原因】
-  // - 车辆未静止、有效样本不足、时间同步超标、外部定位观测丢失、采样频率不足。
-  //
-  // 【在这里添加真实算法】
-  // - 请在 fill_external_localization_common_success(...) 之前或之后补充真实采样与统计逻辑。
-  // - 当前文件仅提供交付模板，不包含真实外部定位算法。
-
-  fill_external_localization_common_success(
-    input,
-    output,
-    "参考位姿采集完成。",
-    "demo_external_reference_pose_collection_v1");
-
-  output.response.result.result.workshop_frame_id = "workshop";
-  output.response.result.result.localization_frame_id = "localization";
-  output.response.result.result.position_repeatability_m = 0.0;
-  output.response.result.result.yaw_repeatability_rad = 0.0;
-  output.response.result.result.residual_error_m = 0.0;
-  output.response.result.result.residual_error_rad = 0.0;
-  output.response.result.result.tracking_loss_ratio = 0.0;
-  output.response.result.result.time_sync_offset_ms = 0.0;
-  output.response.result.result.validated_as_truth_source = true;
-  return true;
-}
-
-}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp b/agv_calib_brain/src/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp
deleted file mode 100644
index 6987fc9..0000000
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "external_localization_service/external_localization_common.hpp"
-
-namespace external_localization_service
-{
-
-bool TruthSourceValidationAlgorithm::run(
-  const ExternalLocalizationInput & input,
-  ExternalLocalizationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 真值源验证模板：
-  // 【本文件负责什么】
-  // - 负责静态重复性、动态稳定性、时间同步与丢失率等真值源验证算法实现。
-  // - 后续算法工程师应主要修改本文件，不要改 node 层和模板分发层。
-  //
-  // 【建议优先读取的输入】
-  // 1. input.truth_source_validation_task
-  //    - static_sample_count、dynamic_sample_count、require_short_motion_segment 等任务要求。
-  // 2. input.external_localization_telemetry_history
-  //    - 外部定位历史观测窗口，是稳定性、同步性、重复性分析的核心输入。
-  // 3. input.chassis_telemetry_history / input.control_telemetry_history
-  //    - 如果要求短运动段验证，需要结合车辆实际运动状态和控制输出做时序对齐。
-  // 4. input.sensor_telemetry_history
-  //    - 用于判断辅助传感器质量是否影响外部定位观测可信度。
-  // 5. input.truth_source_diagnostics
-  //    - 记录时间同步超标、观测丢失、切源异常等问题。
-  //
-  // 【必写输出】
-  // 1. output.response.result.validation_summary
-  //    - 这是 orchestrator 自动验收最关键的摘要区域。
-  // 2. output.response.result.result
-  //    - 写 repeatability、tracking_loss_ratio、time_sync_offset_ms 等核心结果。
-  // 3. output.response.result.data_quality_passed / suitable_for_commit
-  //    - 明确当前真值源是否可进入后续标定闭环。
-  //
-  // 【可选输出】
-  // - output.response.result.artifacts
-  //   可挂稳定性分析报告、同步统计图、丢失率分析文件等。
-  //
-  // 【常见失败原因】
-  // - 动态窗口不足、时间同步偏差超阈值、观测丢失率过高、重复性不满足要求。
-  //
-  // 【在这里添加真实算法】
-  // - 请在 fill_external_localization_common_success(...) 之前或之后补充真实验证逻辑。
-  // - 当前文件仅提供交付模板，不包含真实外部定位算法。
-
-  fill_external_localization_common_success(
-    input,
-    output,
-    "真值源验证完成。",
-    "demo_external_truth_source_validation_v1");
-
-  output.response.result.validation_summary.time_sync_ok = true;
-  output.response.result.validation_summary.coverage_ok = true;
-  output.response.result.validation_summary.quality_ok = true;
-  output.response.result.validation_summary.tracking_stable = true;
-  output.response.result.validation_summary.recommended_as_truth_source = true;
-  output.response.result.validation_summary.position_stddev_m = 0.0;
-  output.response.result.validation_summary.yaw_stddev_rad = 0.0;
-  output.response.result.validation_summary.tracking_loss_ratio = 0.0;
-  output.response.result.validation_summary.time_sync_offset_ms = 0.0;
-
-  output.response.result.result.workshop_frame_id = "workshop";
-  output.response.result.result.localization_frame_id = "localization";
-  output.response.result.result.position_repeatability_m = 0.0;
-  output.response.result.result.yaw_repeatability_rad = 0.0;
-  output.response.result.result.residual_error_m = 0.0;
-  output.response.result.result.residual_error_rad = 0.0;
-  output.response.result.result.tracking_loss_ratio = 0.0;
-  output.response.result.result.time_sync_offset_ms = 0.0;
-  output.response.result.result.validated_as_truth_source = true;
-  return true;
-}
-
-}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp b/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp
deleted file mode 100644
index 624f09b..0000000
--- a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp
+++ /dev/null
@@ -1,167 +0,0 @@
-#include "sensor_calibration_service/sensor_calibration_service_node.hpp"
-
-#include <chrono>
-#include <thread>
-
-#include "calibration_common_interfaces/msg/error_code.hpp"
-#include "calibration_common_interfaces/msg/job_state.hpp"
-#include "calibration_sensor_interfaces/msg/sensor_calibration_job_result.hpp"
-#include "calibration_sensor_interfaces/msg/sensor_readiness_response.hpp"
-
-namespace sensor_calibration_service
-{
-
-namespace
-{
-int64_t now_us()
-{
-  return std::chrono::duration_cast<std::chrono::microseconds>(
-           std::chrono::system_clock::now().time_since_epoch())
-    .count();
-}
-}  // namespace
-
-using calibration_common_interfaces::msg::ErrorCode;
-using calibration_common_interfaces::msg::JobState;
-
-SensorCalibrationServiceNode::SensorCalibrationServiceNode(const rclcpp::NodeOptions & options)
-: Node("sensor_calibration_service", options)
-{
-  readiness_service_ = create_service<ReadinessSrv>(
-    "/sensor_calibration/get_readiness",
-    std::bind(&SensorCalibrationServiceNode::handle_readiness, this, std::placeholders::_1, std::placeholders::_2));
-
-  execute_task_action_server_ = rclcpp_action::create_server<ExecuteTask>(
-    this,
-    "/sensor_calibration/execute_task",
-    std::bind(&SensorCalibrationServiceNode::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
-    std::bind(&SensorCalibrationServiceNode::handle_cancel, this, std::placeholders::_1),
-    std::bind(&SensorCalibrationServiceNode::handle_accepted, this, std::placeholders::_1));
-}
-
-void SensorCalibrationServiceNode::handle_readiness(
-  const std::shared_ptr<ReadinessSrv::Request> request,
-  std::shared_ptr<ReadinessSrv::Response> response)
-{
-  (void)request;
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "sensor_calibration_service is ready.";
-  response->response.agent_ready = true;
-  response->response.capture_pipeline_ready = true;
-  response->response.storage_ready = true;
-  response->response.telemetry_ready = true;
-  response->response.vehicle_safe_to_move = true;
-  response->response.arm_ready = true;
-  response->response.ready_sensor_ids.push_back("demo_sensor_001");
-  response->response.checked_timestamp_us = now_us();
-}
-
-rclcpp_action::GoalResponse SensorCalibrationServiceNode::handle_goal(
-  const rclcpp_action::GoalUUID & /*uuid*/,
-  std::shared_ptr<const ExecuteTask::Goal> goal)
-{
-  if (goal->goal.header.request_id.empty()) {
-    return rclcpp_action::GoalResponse::REJECT;
-  }
-  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-}
-
-rclcpp_action::CancelResponse SensorCalibrationServiceNode::handle_cancel(
-  const std::shared_ptr<GoalHandleExecuteTask> /*goal_handle*/)
-{
-  return rclcpp_action::CancelResponse::ACCEPT;
-}
-
-void SensorCalibrationServiceNode::handle_accepted(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  std::thread(std::bind(&SensorCalibrationServiceNode::execute_goal, this, goal_handle)).detach();
-}
-
-void SensorCalibrationServiceNode::execute_goal(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  // 先回一帧 RUNNING feedback，告诉 orchestrator 当前任务已经进入执行阶段。
-  auto feedback = std::make_shared<ExecuteTask::Feedback>();
-  feedback->feedback.state.state = JobState::RUNNING;
-  goal_handle->publish_feedback(feedback);
-
-  // ===== 组装算法输入上下文 =====
-  // 当前模板阶段先把“算法最常用的任务侧输入”显式展开。
-  // 后续如果要接真实车辆画像、已生效参数查询、历史遥测缓存、外部定位缓存，
-  // 也应继续在这里补齐并写入 SensorCalibrationInput。
-  SensorCalibrationAlgorithmTemplate::Input input;
-  input.request = *goal_handle->get_goal();
-  input.task_type = goal_handle->get_goal()->goal.selected_task;
-  input.task_subtype = goal_handle->get_goal()->goal.task_subtype;
-  input.target_sensor_id = resolve_target_sensor_id(*goal_handle->get_goal());
-  input.camera_intrinsic_task = goal_handle->get_goal()->goal.camera_intrinsic;
-  input.imu_intrinsic_task = goal_handle->get_goal()->goal.imu_intrinsic;
-  input.sensor_to_base_extrinsic_task = goal_handle->get_goal()->goal.sensor_to_base_extrinsic;
-  input.hand_eye_task = goal_handle->get_goal()->goal.hand_eye;
-  input.required_image_count = goal_handle->get_goal()->goal.camera_intrinsic.required_image_count;
-  input.required_static_segment_count = goal_handle->get_goal()->goal.imu_intrinsic.required_static_segment_count;
-  input.required_motion_segment_count = goal_handle->get_goal()->goal.imu_intrinsic.required_motion_segment_count;
-  input.required_sample_count = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.required_sample_count;
-  input.required_pose_count = goal_handle->get_goal()->goal.hand_eye.required_pose_count;
-  switch (goal_handle->get_goal()->goal.selected_task.value) {
-    case TaskType::CAMERA_INTRINSIC:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.camera_intrinsic.timeout_sec;
-      break;
-    case TaskType::IMU_INTRINSIC:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.imu_intrinsic.timeout_sec;
-      break;
-    case TaskType::SENSOR_TO_BASE_EXTRINSIC:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.timeout_sec;
-      break;
-    case TaskType::HAND_EYE:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.hand_eye.timeout_sec;
-      break;
-    default:
-      input.reference_timeout_sec = 0.0;
-      break;
-  }
-  input.reference_board_id = goal_handle->get_goal()->goal.camera_intrinsic.target_board_id;
-  input.reference_base_frame_id = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.base_frame_id;
-  input.reference_arm_id = goal_handle->get_goal()->goal.hand_eye.arm_id;
-  input.sensor_history_available = false;
-  input.chassis_history_available = false;
-  input.control_history_available = false;
-  input.truth_history_available = false;
-
-  SensorCalibrationAlgorithmTemplate::Output output;
-  std::string failure_reason;
-  if (!algorithm_.run(input, output, failure_reason)) {
-    auto result = std::make_shared<ExecuteTask::Result>();
-    result->result.success = false;
-    result->result.error_code.code = ErrorCode::INVALID_STATE;
-    result->result.message = failure_reason;
-    result->result.job_id = goal_handle->get_goal()->goal.header.request_id;
-    result->result.data_quality_passed = false;
-    result->result.suitable_for_commit = false;
-    goal_handle->abort(result);
-    return;
-  }
-
-  auto result = std::make_shared<ExecuteTask::Result>(output.response);
-  goal_handle->succeed(result);
-}
-
-std::string SensorCalibrationServiceNode::resolve_target_sensor_id(const ExecuteTask::Goal & goal) const
-{
-  switch (goal.goal.selected_task.value) {
-    case TaskType::CAMERA_INTRINSIC:
-      return goal.goal.camera_intrinsic.sensor_id;
-    case TaskType::IMU_INTRINSIC:
-      return goal.goal.imu_intrinsic.sensor_id;
-    case TaskType::SENSOR_TO_BASE_EXTRINSIC:
-      return goal.goal.sensor_to_base_extrinsic.sensor_id;
-    case TaskType::HAND_EYE:
-      return goal.goal.hand_eye.sensor_id;
-    default:
-      return "";
-  }
-}
-
-}  // namespace sensor_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp b/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp
deleted file mode 100644
index 246fec8..0000000
--- a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "sensor_calibration_service/sensor_calibration_common.hpp"
-
-namespace sensor_calibration_service
-{
-
-bool FrontCameraExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 前视相机到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "front camera extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "front_camera_extrinsic_template_v1";
-  return true;
-}
-
-bool DownwardCameraExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 下视相机到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "downward camera extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "downward_camera_extrinsic_template_v1";
-  return true;
-}
-
-bool ImuExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // IMU 到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "imu extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "imu_extrinsic_template_v1";
-  return true;
-}
-
-bool Lidar2DExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 2D 激光雷达到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "2d lidar extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "lidar_2d_extrinsic_template_v1";
-  return true;
-}
-
-bool Lidar3DExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 3D 激光雷达到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "3d lidar extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "lidar_3d_extrinsic_template_v1";
-  return true;
-}
-
-}  // namespace sensor_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp b/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp
deleted file mode 100644
index 96e9f6a..0000000
--- a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-#include "vehicle_profile_manager/vehicle_profile_manager_node.hpp"
-
-#include <chrono>
-
-#include "calibration_common_interfaces/msg/error_code.hpp"
-#include "calibration_vehicle_profile_interfaces/msg/chassis_type.hpp"
-#include "calibration_vehicle_profile_interfaces/msg/workflow_stage_type.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
-
-namespace vehicle_profile_manager
-{
-
-using calibration_common_interfaces::msg::ErrorCode;
-using calibration_vehicle_profile_interfaces::msg::ChassisType;
-using calibration_vehicle_profile_interfaces::msg::WorkflowStageType;
-
-VehicleProfileManagerNode::VehicleProfileManagerNode(const rclcpp::NodeOptions & options)
-: Node("vehicle_profile_manager", options)
-{
-  get_profile_service_ = create_service<GetProfileSrv>(
-    "/vehicle_profile_manager/get_vehicle_profile",
-    std::bind(
-      &VehicleProfileManagerNode::handle_get_profile, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  register_service_ = create_service<RegisterSrv>(
-    "/vehicle_profile_manager/register_or_update_vehicle_profile",
-    std::bind(
-      &VehicleProfileManagerNode::handle_register, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  applicability_service_ = create_service<ApplicabilitySrv>(
-    "/vehicle_profile_manager/evaluate_vehicle_calibration_applicability",
-    std::bind(
-      &VehicleProfileManagerNode::handle_applicability, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  heartbeat_service_ = create_service<HeartbeatSrv>(
-    "/vehicle_profile_manager/heartbeat",
-    std::bind(
-      &VehicleProfileManagerNode::handle_heartbeat, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  load_demo_profile();
-
-  RCLCPP_INFO(get_logger(), "VehicleProfileManagerNode 启动，已预载 demo 车辆画像。");
-}
-
-void VehicleProfileManagerNode::handle_get_profile(
-  const std::shared_ptr<GetProfileSrv::Request> request,
-  std::shared_ptr<GetProfileSrv::Response> response)
-{
-  const auto & vehicle_id = request->request.vehicle_id;
-  auto it = profiles_.find(vehicle_id);
-  if (it == profiles_.end()) {
-    response->response.success = false;
-    response->response.error_code.code = ErrorCode::INVALID_ARGUMENT;
-    response->response.message = "找不到 vehicle_id=[" + vehicle_id + "] 的车辆画像。";
-    return;
-  }
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "查询成功。";
-  response->response.profile = it->second;
-}
-
-void VehicleProfileManagerNode::handle_register(
-  const std::shared_ptr<RegisterSrv::Request> request,
-  std::shared_ptr<RegisterSrv::Response> response)
-{
-  const auto & vehicle_id = request->request.profile.base_info.vehicle_id;
-  if (vehicle_id.empty()) {
-    response->response.success = false;
-    response->response.error_code.code = ErrorCode::INVALID_ARGUMENT;
-    response->response.message = "vehicle_id 不能为空。";
-    return;
-  }
-  profiles_[vehicle_id] = request->request.profile;
-  RCLCPP_INFO(get_logger(), "已注册/更新车辆画像 vehicle_id=[%s]", vehicle_id.c_str());
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "注册/更新成功。";
-}
-
-void VehicleProfileManagerNode::handle_applicability(
-  const std::shared_ptr<ApplicabilitySrv::Request> request,
-  std::shared_ptr<ApplicabilitySrv::Response> response)
-{
-  const auto & profile = request->request.profile_snapshot;
-  auto stages = evaluate_supported_stages(profile);
-
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "适用性评估完成。";
-  response->response.overall_supported = !stages.empty();
-  response->response.recommended_workflow_stages = stages;
-}
-
-void VehicleProfileManagerNode::handle_heartbeat(
-  const std::shared_ptr<HeartbeatSrv::Request> /*request*/,
-  std::shared_ptr<HeartbeatSrv::Response> response)
-{
-  const auto now_us = std::chrono::duration_cast<std::chrono::microseconds>(
-    std::chrono::system_clock::now().time_since_epoch()).count();
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "vehicle_profile_manager 在线。";
-  response->response.server_timestamp_us = now_us;
-  response->response.vehicle_ready = true;
-}
-
-std::vector<WorkflowStageType>
-VehicleProfileManagerNode::evaluate_supported_stages(const VehicleProfile & profile) const
-{
-  std::vector<WorkflowStageType> stages;
-
-  auto make_stage = [](uint8_t v) {
-    WorkflowStageType s;
-    s.value = v;
-    return s;
-  };
-
-  // 预检和画像校验始终支持。
-  stages.push_back(make_stage(WorkflowStageType::PROFILE_VALIDATION_STAGE));
-  stages.push_back(make_stage(WorkflowStageType::WORKSHOP_PRECHECK_STAGE));
-
-  // 底盘标定：底盘类型已指定时支持。
-  if (profile.chassis_type.value != ChassisType::CHASSIS_TYPE_UNSPECIFIED) {
-    stages.push_back(make_stage(WorkflowStageType::CHASSIS_CALIBRATION_STAGE));
-    stages.push_back(make_stage(WorkflowStageType::CONTROL_CALIBRATION_STAGE));
-  }
-
-  // 传感器标定：有传感器配置时支持。
-  if (!profile.sensors.empty()) {
-    stages.push_back(make_stage(WorkflowStageType::SENSOR_INTRINSIC_CALIBRATION_STAGE));
-    stages.push_back(make_stage(WorkflowStageType::SENSOR_EXTRINSIC_CALIBRATION_STAGE));
-  }
-
-  // 手眼标定：有机械臂且有传感器时支持。
-  if (profile.arm_profile.has_mechanical_arm && !profile.sensors.empty()) {
-    stages.push_back(make_stage(WorkflowStageType::HAND_EYE_CALIBRATION_STAGE));
-  }
-
-  // 最终阶段始终加入。
-  stages.push_back(make_stage(WorkflowStageType::PARAMETER_COMMIT_STAGE));
-  stages.push_back(make_stage(WorkflowStageType::REPORT_ARCHIVE_STAGE));
-
-  return stages;
-}
-
-void VehicleProfileManagerNode::load_demo_profile()
-{
-  VehicleProfile demo;
-
-  // 基础信息
-  demo.base_info.vehicle_id   = "demo_agv_001";
-  demo.base_info.vehicle_name = "Demo AGV";
-  demo.base_info.model_name   = "DemoModel-X1";
-  demo.base_info.manufacturer = "Demo Manufacturer";
-
-  // 底盘类型：差速
-  demo.chassis_type.value = ChassisType::DIFFERENTIAL;
-
-  // base_link
-  demo.base_link_frame = "base_link";
-
-  // 画像版本
-  demo.profile_version = "demo_v1";
-
-  // 启用的工作流阶段
-  demo.enabled_workflow_stages = evaluate_supported_stages(demo);
-
-  profiles_[demo.base_info.vehicle_id] = demo;
-  RCLCPP_INFO(get_logger(), "已预载 demo 车辆画像 vehicle_id=[%s]",
-    demo.base_info.vehicle_id.c_str());
-}
-
-}  // namespace vehicle_profile_manager
-
-RCLCPP_COMPONENTS_REGISTER_NODE(vehicle_profile_manager::VehicleProfileManagerNode)
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py b/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py
deleted file mode 100644
index 35a8946..0000000
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py
+++ /dev/null
@@ -1,13 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package="workshop_orchestrator_v2",
-            executable="workshop_orchestrator_v2_node",
-            name="workshop_orchestrator_v2",
-            output="screen",
-        )
-    ])
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp b/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp
deleted file mode 100644
index e568d9b..0000000
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp
+++ /dev/null
@@ -1,153 +0,0 @@
-#include "workshop_orchestrator_v2/precheck_runner.hpp"
-
-#include "calibration_workshop_orchestration_interfaces/msg/precheck_item.hpp"
-
-namespace workshop_orchestrator_v2
-{
-
-bool PrecheckRunner::has_metadata_key(const StagePlan & stage, const std::string & key) const
-{
-  for (const auto & kv : stage.metadata) {
-    if (kv.key == key) {
-      return true;
-    }
-  }
-  return false;
-}
-
-bool PrecheckRunner::has_metadata_prefix(const StagePlan & stage, const std::string & prefix) const
-{
-  for (const auto & kv : stage.metadata) {
-    if (kv.key.rfind(prefix, 0) == 0) {
-      return true;
-    }
-  }
-  return false;
-}
-
-WorkshopPrecheckResponse PrecheckRunner::run(const WorkshopSession & session) const
-{
-  WorkshopPrecheckResponse response;
-  response.success = true;
-  response.error_code = make_error_code(ErrorCode::OK);
-  response.checked_timestamp_us = now_us();
-
-  auto append_item = [&](const std::string & code,
-                         const std::string & name,
-                         bool passed,
-                         const std::string & message,
-                         uint8_t stage_type,
-                         uint8_t module_type) {
-    calibration_workshop_orchestration_interfaces::msg::PrecheckItem item;
-    item.item_code = code;
-    item.display_name = name;
-    item.passed = passed;
-    item.blocking = true;
-    item.error_code = make_error_code(passed ? ErrorCode::OK : ErrorCode::INVALID_STATE);
-    item.message = message;
-    item.related_stage_type = make_stage_type(stage_type);
-    item.related_module_type = make_module_type(module_type);
-    response.items.push_back(item);
-    if (!passed) {
-      response.blocking_issue_count += 1;
-      response.all_passed = false;
-    }
-  };
-
-  response.all_passed = true;
-  response.blocking_issue_count = 0;
-
-  append_item(
-    "plan_not_empty",
-    "Execution plan exists",
-    !session.stage_plan.empty(),
-    session.stage_plan.empty() ? "Session has no executable stages." : "Session has executable stages.",
-    WorkflowStageType::WORKFLOW_STAGE_UNSPECIFIED,
-    CalibrationModuleType::CALIBRATION_MODULE_UNSPECIFIED);
-
-  for (const auto & stage : session.stage_plan) {
-    if (stage.module_type.value == CalibrationModuleType::CHASSIS_MODULE) {
-      const bool passed =
-        has_metadata_key(stage, metadata_keys::CHASSIS_PRIMITIVE_TYPE) &&
-        has_metadata_key(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_DISTANCE_M) &&
-        has_metadata_key(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_SPEED_MS);
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        passed ? "底盘阶段输入完整。" : "底盘阶段缺少 primitive_type 或直线动作参数。",
-        stage.stage_type.value,
-        stage.module_type.value);
-    } else if (stage.module_type.value == CalibrationModuleType::CONTROL_MODULE) {
-      const bool passed =
-        has_metadata_key(stage, metadata_keys::CONTROL_TASK_TYPE) &&
-        has_metadata_prefix(stage, metadata_keys::CONTROL_TRAJECTORY_PREFIX);
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        passed ? "运控阶段输入完整。" : "运控阶段缺少 control.task_type 或轨迹点输入。",
-        stage.stage_type.value,
-        stage.module_type.value);
-    } else if (
-      stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE ||
-      stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE ||
-      stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
-      bool passed =
-        has_metadata_key(stage, metadata_keys::SENSOR_ID) &&
-        has_metadata_key(stage, metadata_keys::SENSOR_TASK_SUBTYPE);
-      std::string message = passed ? "传感器阶段基础输入完整。" : "传感器阶段缺少 sensor.sensor_id 或 sensor.task_subtype。";
-
-      if (passed && stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE) {
-        const bool has_image_count = has_metadata_key(stage, metadata_keys::CAMERA_INTRINSIC_REQUIRED_IMAGE_COUNT);
-        const bool has_board = has_metadata_key(stage, metadata_keys::CAMERA_INTRINSIC_TARGET_BOARD_ID);
-        passed = has_image_count || has_board;
-        message = passed ? "传感器内参阶段输入完整。" : "传感器内参阶段缺少图像数或标定板信息。";
-      }
-
-      if (passed && stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE) {
-        passed =
-          has_metadata_key(stage, metadata_keys::SENSOR_EXTRINSIC_BASE_FRAME_ID) &&
-          has_metadata_key(stage, metadata_keys::SENSOR_EXTRINSIC_REQUIRED_SAMPLE_COUNT);
-        message = passed ? "传感器外参阶段输入完整。" : "传感器外参阶段缺少 base_frame_id 或 required_sample_count。";
-      }
-
-      if (passed && stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
-        passed =
-          has_metadata_key(stage, metadata_keys::HAND_EYE_ARM_ID) &&
-          has_metadata_key(stage, metadata_keys::HAND_EYE_REQUIRED_POSE_COUNT);
-        message = passed ? "手眼阶段输入完整。" : "手眼阶段缺少 arm_id 或 required_pose_count。";
-      }
-
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        message,
-        stage.stage_type.value,
-        stage.module_type.value);
-    } else if (stage.module_type.value == CalibrationModuleType::EXTERNAL_LOCALIZATION_MODULE) {
-      const bool passed =
-        has_metadata_key(stage, metadata_keys::EXTERNAL_STATIC_SAMPLE_COUNT) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_DYNAMIC_SAMPLE_COUNT) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_POSITION_STDDEV_M) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_YAW_STDDEV_RAD) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_TRACKING_LOSS_RATIO) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_TIME_SYNC_OFFSET_MS) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_TIMEOUT_SEC);
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        passed ? "external 阶段输入完整。" : "external 阶段缺少真值校核阈值配置。",
-        stage.stage_type.value,
-        stage.module_type.value);
-    }
-  }
-
-  response.ready_for_start = response.all_passed;
-  response.message = response.ready_for_start ? "Precheck passed." : "Precheck failed.";
-  return response;
-}
-
-}  // namespace workshop_orchestrator_v2
diff --git a/agv_calib_brain/src/UI/README.md b/agv_calib_brain/src/apps/operator_ui/README.md
similarity index 95%
rename from agv_calib_brain/src/UI/README.md
rename to agv_calib_brain/src/apps/operator_ui/README.md
index e922f36..de21973 100644
--- a/agv_calib_brain/src/UI/README.md
+++ b/agv_calib_brain/src/apps/operator_ui/README.md
@@ -1,5 +1,4 @@
-
-# workshop_ui_pyside6_config_aligned
+# 操作员界面原型
 
 这版 PySide6 原型的目标不是单纯展示界面，而是：
 
diff --git a/agv_calib_brain/src/UI/main.py b/agv_calib_brain/src/apps/operator_ui/main.py
similarity index 100%
rename from agv_calib_brain/src/UI/main.py
rename to agv_calib_brain/src/apps/operator_ui/main.py
diff --git a/agv_calib_brain/src/UI/requirements.txt b/agv_calib_brain/src/apps/operator_ui/requirements.txt
similarity index 100%
rename from agv_calib_brain/src/UI/requirements.txt
rename to agv_calib_brain/src/apps/operator_ui/requirements.txt
diff --git a/agv_calib_brain/src/UI/standalone_dashboard.py b/agv_calib_brain/src/apps/operator_ui/standalone_dashboard.py
similarity index 100%
rename from agv_calib_brain/src/UI/standalone_dashboard.py
rename to agv_calib_brain/src/apps/operator_ui/standalone_dashboard.py
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/vehicle_internal_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..0af7709
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/CMakeLists.txt
@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(vehicle_internal_interfaces)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(calibration_vehicle_profile_interfaces REQUIRED)
+
+set(msg_files
+  "msg/VehicleControlMode.msg"
+  "msg/AckermannDriveCommand.msg"
+  "msg/VehicleSafetyCommand.msg"
+  "msg/AckermannActuatorState.msg"
+  "msg/VehicleInternalState.msg"
+  "msg/VehicleHealthStatus.msg"
+  "msg/VehicleTimeSyncStatus.msg"
+  "msg/SensorLinkStatus.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES calibration_vehicle_profile_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/README.md b/agv_calib_brain/src/communication/vehicle_internal_interfaces/README.md
new file mode 100644
index 0000000..8a3f940
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/README.md
@@ -0,0 +1,17 @@
+# 车辆内部接口
+
+这个包定义车端电脑和车辆本体之间的内部 ROS2 消息。
+
+它不直接作为车间电脑和车端电脑之间的 WiFi6 协议。WiFi6 对外协议仍由 `calibration_*_interfaces/proto` 定义。这个包用于把真实 Windows 小车的 CAN、串口、厂商 SDK 或仿真 Isaac topic 统一映射成车端内部语义。
+
+当前消息包括：
+
+- `AckermannDriveCommand`：阿克曼底盘速度、转角、制动、超时命令。
+- `VehicleSafetyCommand`：上使能、下使能、急停、清故障、标定低速模式。
+- `AckermannActuatorState`：速度、转角、轮速、电机电流、制动/油门反馈。
+- `VehicleInternalState`：车辆模式、安全状态、底盘执行器状态、电源与运动状态。
+- `VehicleHealthStatus`：控制器在线、总线状态、通信质量和车端资源状态。
+- `VehicleTimeSyncStatus`：车端、传感器、外部真值之间的时间同步状态。
+- `SensorLinkStatus`：车载传感器在线状态、帧率、丢帧和延迟。
+
+仿真中，`vehicle_agent_sim` 会把车间电脑下发的控制请求转换为 `AckermannDriveCommand`，同时继续发布 Isaac 当前需要的 `cmd_vel`。真实部署时，Windows 车端应把这些内部消息映射到实际车辆接口。
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannActuatorState.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannActuatorState.msg
new file mode 100644
index 0000000..c055ec3
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannActuatorState.msg
@@ -0,0 +1,35 @@
+# =========================================================
+# 阿克曼底盘内部执行器状态
+# 发送方：车辆控制器 / Isaac 底盘执行器适配层
+# 接收方：车端电脑
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 实际纵向速度
+float64 actual_speed_ms
+# 实际纵向加速度
+float64 actual_accel_ms2
+# 实际前轮等效转角
+float64 actual_steering_angle_rad
+# 实际转向角速度
+float64 actual_steering_rate_rads
+
+# 左后驱动轮速度
+float64 rear_left_wheel_speed_ms
+# 右后驱动轮速度
+float64 rear_right_wheel_speed_ms
+# 左前轮等效转角
+float64 front_left_steering_angle_rad
+# 右前轮等效转角
+float64 front_right_steering_angle_rad
+
+# 驱动电机电流
+float64 drive_motor_current_amp
+# 转向电机电流
+float64 steering_motor_current_amp
+# 制动压力或制动比例，范围 [0, 1]
+float64 brake_pressure
+# 驱动控制输出，范围 [0, 1]
+float64 throttle_output
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannDriveCommand.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannDriveCommand.msg
new file mode 100644
index 0000000..4043f27
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/AckermannDriveCommand.msg
@@ -0,0 +1,33 @@
+# =========================================================
+# 阿克曼底盘内部控制命令
+# 发送方：车端电脑
+# 接收方：车辆运动控制器 / Isaac 底盘执行器适配层
+# =========================================================
+
+# 命令时间戳
+int64 command_timestamp_us
+# 命令 ID，用于追踪和去重
+string command_id
+# 命令来源，例如 vehicle_agent_sim / real_vehicle_agent
+string source
+# 控制模式
+vehicle_internal_interfaces/VehicleControlMode control_mode
+
+# 目标纵向速度
+float64 target_speed_ms
+# 目标纵向加速度；0 表示由车辆控制器默认限幅
+float64 target_accel_ms2
+# 目标前轮等效转角，左正右负
+float64 target_steering_angle_rad
+# 目标转向角速度；0 表示由车辆控制器默认限幅
+float64 target_steering_rate_rads
+
+# 制动命令，范围 [0, 1]
+float64 brake_command
+# 油门 / 驱动命令，范围 [0, 1]；仿真可选
+float64 throttle_command
+# 命令超时时间
+float64 command_timeout_sec
+
+# 是否要求控制器在超时或任务结束后停车
+bool stop_when_timeout
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/SensorLinkStatus.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/SensorLinkStatus.msg
new file mode 100644
index 0000000..9b66414
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/SensorLinkStatus.msg
@@ -0,0 +1,33 @@
+# =========================================================
+# 车端传感器链路状态
+# 发送方：车端传感器代理
+# 接收方：车端电脑 / 车间电脑桥接层
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 传感器 ID
+string sensor_id
+# 传感器类型
+calibration_vehicle_profile_interfaces/SensorType sensor_type
+# 传感器 frame
+string frame_id
+# 车端订阅或驱动 topic / 通道名
+string source_channel
+
+# 是否在线
+bool online
+# 当前帧率
+float64 frame_rate_hz
+# 最近一帧年龄
+float64 latest_frame_age_ms
+# 累计帧数
+uint64 frame_count
+# 丢帧比例
+float64 dropped_frame_ratio
+# 最近一帧传输延迟
+float64 latest_transport_latency_ms
+
+# 当前链路状态说明
+string status_message
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleControlMode.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleControlMode.msg
new file mode 100644
index 0000000..edb284f
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleControlMode.msg
@@ -0,0 +1,15 @@
+# =========================================================
+# 车辆内部控制模式
+# 作用：车端电脑与车辆控制器之间约定当前车辆控制状态
+# =========================================================
+
+uint8 MODE_UNSPECIFIED=0
+uint8 DISABLED=1
+uint8 MANUAL=2
+uint8 AUTO=3
+uint8 CALIBRATION=4
+uint8 ESTOP=5
+uint8 FAULT=6
+
+# 当前模式
+uint8 value
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleHealthStatus.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleHealthStatus.msg
new file mode 100644
index 0000000..3e081dd
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleHealthStatus.msg
@@ -0,0 +1,40 @@
+# =========================================================
+# 车辆内部健康诊断状态
+# 发送方：车端电脑 / 车辆控制器
+# 接收方：车端电脑内部监控或车间电脑桥接层
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 车端电脑进程是否在线
+bool vehicle_agent_online
+# 车辆主控制器是否在线
+bool vehicle_controller_online
+# 驱动控制器是否在线
+bool drive_controller_online
+# 转向控制器是否在线
+bool steering_controller_online
+# 传感器总线是否在线
+bool sensor_bus_online
+# CAN 或厂商控制链路是否在线
+bool vehicle_bus_online
+# 外部真值链路是否在线
+bool external_truth_link_online
+
+# 通信质量
+float64 vehicle_bus_rx_hz
+float64 vehicle_bus_drop_ratio
+float64 command_latency_ms
+float64 telemetry_latency_ms
+
+# 车端电脑资源
+float64 cpu_load_ratio
+float64 memory_used_ratio
+float64 disk_used_ratio
+float64 temperature_c
+
+# 诊断摘要
+bool healthy
+string diagnostic_code
+string diagnostic_message
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleInternalState.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleInternalState.msg
new file mode 100644
index 0000000..6d71723
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleInternalState.msg
@@ -0,0 +1,35 @@
+# =========================================================
+# 车辆内部综合状态
+# 发送方：车辆控制器 / Isaac 底盘执行器适配层
+# 接收方：车端电脑
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+# 当前控制模式
+vehicle_internal_interfaces/VehicleControlMode current_mode
+
+# 车辆是否已上使能
+bool vehicle_enabled
+# 急停是否触发
+bool estop_engaged
+# 是否处于低速标定模式
+bool calibration_low_speed_mode
+# 是否存在故障
+bool fault_active
+# 主故障码
+string primary_fault_code
+# 主故障说明
+string primary_fault_message
+
+# 当前底盘状态
+vehicle_internal_interfaces/AckermannActuatorState ackermann_state
+
+# 电源状态
+float64 battery_voltage_v
+float64 battery_current_amp
+float64 battery_soc
+
+# 车辆运动状态
+float64 yaw_rate_rads
+float64 lateral_accel_ms2
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleSafetyCommand.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleSafetyCommand.msg
new file mode 100644
index 0000000..c92d5e2
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleSafetyCommand.msg
@@ -0,0 +1,30 @@
+# =========================================================
+# 车辆内部安全命令
+# 发送方：车端电脑
+# 接收方：车辆安全控制器 / 底盘控制器
+# =========================================================
+
+# 命令时间戳
+int64 command_timestamp_us
+# 命令 ID
+string command_id
+# 命令来源
+string source
+
+# 上使能车辆
+bool enable_vehicle
+# 下使能车辆
+bool disable_vehicle
+# 触发急停
+bool engage_estop
+# 解除急停
+bool release_estop
+# 清除可恢复故障
+bool clear_faults
+# 切换到标定低速安全模式
+bool enter_calibration_low_speed_mode
+# 退出标定低速安全模式
+bool exit_calibration_low_speed_mode
+
+# 操作原因
+string reason
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleTimeSyncStatus.msg b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleTimeSyncStatus.msg
new file mode 100644
index 0000000..075ebac
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/msg/VehicleTimeSyncStatus.msg
@@ -0,0 +1,27 @@
+# =========================================================
+# 车辆内部时间同步状态
+# 发送方：车端电脑
+# 接收方：车间电脑桥接层 / 车端诊断
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 同步源，例如 ptp / ntp / external_truth / sim_clock
+string sync_source
+# 是否认为已同步
+bool synchronized
+
+# 车端系统时钟相对传感器硬件时钟偏差
+float64 system_to_sensor_offset_ms
+# 车端系统时钟相对外部真值时钟偏差
+float64 system_to_external_truth_offset_ms
+# 同步抖动
+float64 jitter_ms
+# 近期最大时间同步误差
+float64 max_offset_ms
+# 时间同步链路延迟
+float64 sync_transport_latency_ms
+
+# 说明
+string status_message
diff --git a/agv_calib_brain/src/communication/vehicle_internal_interfaces/package.xml b/agv_calib_brain/src/communication/vehicle_internal_interfaces/package.xml
new file mode 100644
index 0000000..b73288b
--- /dev/null
+++ b/agv_calib_brain/src/communication/vehicle_internal_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>vehicle_internal_interfaces</name>
+  <version>0.0.1</version>
+  <description>ROS 2 interfaces for vehicle-computer to vehicle-controller internal communication.</description>
+
+  <maintainer email="user@example.com">user</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>calibration_vehicle_profile_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/FILE_TREE.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/FILE_TREE.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/FILE_TREE.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/FILE_TREE.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/action/ExecuteMotionPrimitive.action b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/action/ExecuteMotionPrimitive.action
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/action/ExecuteMotionPrimitive.action
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/action/ExecuteMotionPrimitive.action
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AckermannCalibrationParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AckermannCalibrationParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AckermannCalibrationParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AckermannCalibrationParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AppliedChassisCalibrationParametersResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AppliedChassisCalibrationParametersResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AppliedChassisCalibrationParametersResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/AppliedChassisCalibrationParametersResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ArcCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ArcCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ArcCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ArcCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCalibrationParameterSet.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCalibrationParameterSet.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCalibrationParameterSet.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCalibrationParameterSet.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisCapabilityResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisJobResult.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisJobResult.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisJobResult.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisJobResult.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisMotionPrimitiveType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisMotionPrimitiveType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisMotionPrimitiveType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisMotionPrimitiveType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisReadinessResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisReadinessResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisReadinessResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisReadinessResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisSpecificParamsType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisSpecificParamsType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisSpecificParamsType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisSpecificParamsType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisTelemetry.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisTelemetry.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisTelemetry.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisTelemetry.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisValidationSummary.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisValidationSummary.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisValidationSummary.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisValidationSummary.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkMode.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkMode.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkMode.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkMode.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkModeRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkModeRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkModeRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ChassisWorkModeRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommitChassisCalibrationParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommitChassisCalibrationParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommitChassisCalibrationParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommitChassisCalibrationParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommonChassisCalibrationParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommonChassisCalibrationParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommonChassisCalibrationParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CommonChassisCalibrationParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CoordinatedSteeringCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CoordinatedSteeringCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CoordinatedSteeringCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/CoordinatedSteeringCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DiagonalMotionCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DiagonalMotionCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DiagonalMotionCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DiagonalMotionCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DifferentialCalibrationParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DifferentialCalibrationParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DifferentialCalibrationParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/DifferentialCalibrationParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/GetAppliedChassisCalibrationParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/GetAppliedChassisCalibrationParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/GetAppliedChassisCalibrationParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/GetAppliedChassisCalibrationParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/InPlaceRotationCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/InPlaceRotationCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/InPlaceRotationCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/InPlaceRotationCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/LateralTranslationCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/LateralTranslationCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/LateralTranslationCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/LateralTranslationCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ModuleAlignmentCheckCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ModuleAlignmentCheckCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ModuleAlignmentCheckCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/ModuleAlignmentCheckCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveTaskPurpose.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveTaskPurpose.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveTaskPurpose.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MotionPrimitiveTaskPurpose.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MultiSteerWheelCalibrationParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MultiSteerWheelCalibrationParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MultiSteerWheelCalibrationParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/MultiSteerWheelCalibrationParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SingleSteerWheelCalibrationParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SingleSteerWheelCalibrationParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SingleSteerWheelCalibrationParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SingleSteerWheelCalibrationParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringModuleCalibrationParam.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringModuleCalibrationParam.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringModuleCalibrationParam.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringModuleCalibrationParam.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringSweepCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringSweepCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringSweepCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/SteeringSweepCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StraightLineCommand.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StraightLineCommand.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StraightLineCommand.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StraightLineCommand.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StreamChassisTelemetryRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StreamChassisTelemetryRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StreamChassisTelemetryRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/StreamChassisTelemetryRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/WheelModuleState.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/WheelModuleState.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/msg/WheelModuleState.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/msg/WheelModuleState.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/proto/chassis_calibration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/proto/chassis_calibration.proto
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/proto/chassis_calibration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/proto/chassis_calibration.proto
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CancelChassisJob.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CancelChassisJob.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CancelChassisJob.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CancelChassisJob.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CommitChassisCalibrationParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CommitChassisCalibrationParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CommitChassisCalibrationParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/CommitChassisCalibrationParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/EmergencyBrake.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/EmergencyBrake.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/EmergencyBrake.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/EmergencyBrake.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetAppliedChassisCalibrationParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetAppliedChassisCalibrationParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetAppliedChassisCalibrationParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetAppliedChassisCalibrationParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisCapability.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisCapability.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisCapability.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisCapability.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobStatus.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobStatus.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobStatus.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisJobStatus.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisReadiness.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisReadiness.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisReadiness.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/GetChassisReadiness.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/Heartbeat.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/Heartbeat.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/Heartbeat.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/SetChassisWorkMode.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/SetChassisWorkMode.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/SetChassisWorkMode.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/SetChassisWorkMode.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StartMotionPrimitive.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StartMotionPrimitive.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StartMotionPrimitive.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StartMotionPrimitive.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StreamChassisTelemetry.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StreamChassisTelemetry.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StreamChassisTelemetry.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_chassis_interfaces/srv/StreamChassisTelemetry.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/action/MonitorJob.action b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/action/MonitorJob.action
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/action/MonitorJob.action
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/action/MonitorJob.action
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/AgentReadinessRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/AgentReadinessRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/AgentReadinessRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/AgentReadinessRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/ErrorCode.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/ErrorCode.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/ErrorCode.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/ErrorCode.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/FileDigest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/FileDigest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/FileDigest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/FileDigest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/FileReference.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/FileReference.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/FileReference.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/FileReference.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/HeartbeatResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobAccepted.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobAccepted.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobAccepted.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobAccepted.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobQuery.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobQuery.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobQuery.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobQuery.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobState.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobState.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobState.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobState.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobStatus.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobStatus.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/JobStatus.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/JobStatus.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/KeyValuePair.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/KeyValuePair.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/KeyValuePair.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/KeyValuePair.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/Pose3D.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/Pose3D.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/Pose3D.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/Pose3D.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/ReadinessIssue.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/ReadinessIssue.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/ReadinessIssue.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/ReadinessIssue.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/RequestHeader.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/RequestHeader.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/RequestHeader.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/RequestHeader.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/StandardResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/StandardResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/StandardResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/StandardResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/Vector3D.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/Vector3D.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/msg/Vector3D.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/msg/Vector3D.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto
similarity index 99%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto
index 4d44308..0013f90 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/calibration_common.proto
@@ -3,8 +3,8 @@ syntax = "proto3";
 package agv.calibration.common;
 
 // ├── msg/
-// │   ├── Vector3d.msg
-// │   ├── Pose3dEuler.msg
+// │   ├── Vector3D.msg
+// │   ├── Pose3D.msg
 // │   ├── RequestHeader.msg
 // │   ├── ErrorCode.msg
 // │   ├── StandardResponse.msg
@@ -263,4 +263,4 @@ message FileReference {
 message KeyValuePair {
   string key = 1;     // 键
   string value = 2;   // 值
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/transport_contract.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/transport_contract.proto
new file mode 100644
index 0000000..8cb6376
--- /dev/null
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/proto/transport_contract.proto
@@ -0,0 +1,146 @@
+syntax = "proto3";
+
+package agv.calibration.transport;
+
+// =========================================================
+// 文件作用：WiFi6/TCP 传输契约
+// 使用范围：
+// 1) Ubuntu 车间工控机与 Windows 车端代理之间的网络边界
+// 2) 仿真车端 agent 与真实车端 agent 需要共同遵守的帧号和通道约定
+// 3) 业务消息仍由 chassis/control/sensor/external_localization proto 定义
+// 说明：
+// 1) WiFi6 是承载网络，当前工程传输层使用 TCP 长/短连接
+// 2) 当前仿真实现 payload 使用 proto 字段名风格的 JSON
+// 3) 现场可切换为 protobuf binary，但必须保持本文件中的通道和帧号不变
+// =========================================================
+
+// =========================================================
+// WiFi6 逻辑通道
+// =========================================================
+enum Wifi6Channel {
+  WIFI6_CHANNEL_UNSPECIFIED = 0;
+  WIFI6_CHANNEL_CHASSIS = 1;        // 底盘标定动作和急停
+  WIFI6_CHANNEL_CONTROL = 2;        // 运控参数评估、轨迹跟踪
+  WIFI6_CHANNEL_SENSOR = 3;         // 车端传感器原始数据
+  WIFI6_CHANNEL_EXTERNAL_POSE = 4;  // 外部真值位姿输入到车端
+}
+
+// =========================================================
+// 默认端口
+// 说明：
+// 1) WiFi6 边界默认只暴露一个车端 gateway 端口
+// 2) channel 只是协议里的逻辑通道，不应该被理解成“一类功能一个物理端口”
+// 3) 9001-9004 仅保留给仿真 router 背后的内部域服务或旧版兼容使用
+// =========================================================
+enum Wifi6DefaultPort {
+  WIFI6_DEFAULT_PORT_UNSPECIFIED = 0;
+  WIFI6_DEFAULT_PORT_VEHICLE_GATEWAY = 9000;
+  WIFI6_LEGACY_INTERNAL_PORT_CHASSIS = 9001;
+  WIFI6_LEGACY_INTERNAL_PORT_CONTROL = 9002;
+  WIFI6_LEGACY_INTERNAL_PORT_SENSOR = 9003;
+  WIFI6_LEGACY_INTERNAL_PORT_EXTERNAL_POSE = 9004;
+}
+
+// =========================================================
+// TCP 载荷编码方式
+// =========================================================
+enum Wifi6PayloadEncoding {
+  WIFI6_PAYLOAD_ENCODING_UNSPECIFIED = 0;
+  WIFI6_PAYLOAD_ENCODING_JSON_PROTO_FIELD_NAMES = 1; // 当前仿真实现：JSON key 使用 proto 字段名
+  WIFI6_PAYLOAD_ENCODING_PROTOBUF_BINARY = 2;        // 现场高性能实现可选
+}
+
+// =========================================================
+// TCP 连接方向
+// =========================================================
+enum Wifi6FrameDirection {
+  WIFI6_FRAME_DIRECTION_UNSPECIFIED = 0;
+  WIFI6_FRAME_DIRECTION_WORKSHOP_TO_VEHICLE = 1;
+  WIFI6_FRAME_DIRECTION_VEHICLE_TO_WORKSHOP = 2;
+}
+
+// =========================================================
+// TCP 帧号
+// 帧头格式固定为：
+//   uint32 little-endian msg_type
+//   uint32 little-endian payload_len
+//   payload_len bytes payload
+// 注意：
+// 1) 这个 8 字节帧头不是 protobuf 序列化结果，而是传输层二进制头
+// 2) payload 的业务结构由本字段注释中对应的 proto 消息定义
+// 3) 逻辑 channel 由 msg_type 映射得到；同一个 gateway 端口根据 msg_type 做路由
+// =========================================================
+enum Wifi6FrameType {
+  WIFI6_FRAME_TYPE_UNSPECIFIED = 0;
+
+  // 底盘域：chassis_calibration.proto / AgvCalibChassisService
+  WIFI6_FRAME_CHASSIS_GET_READINESS_REQ = 1;     // AgentReadinessRequest
+  WIFI6_FRAME_CHASSIS_GET_READINESS_RSP = 2;     // ChassisReadinessResponse
+  WIFI6_FRAME_CHASSIS_MOTION_PRIMITIVE_REQ = 3;  // MotionPrimitiveRequest
+  WIFI6_FRAME_CHASSIS_MOTION_PRIMITIVE_RSP = 4;  // ChassisJobResult
+  WIFI6_FRAME_CHASSIS_EMERGENCY_BRAKE_REQ = 5;   // Empty 或 EmergencyBrake 请求
+  WIFI6_FRAME_CHASSIS_EMERGENCY_BRAKE_RSP = 6;   // StandardResponse
+
+  // 运控域：control_calibration.proto / AgvCalibControlService
+  WIFI6_FRAME_CONTROL_GET_READINESS_REQ = 11;  // AgentReadinessRequest
+  WIFI6_FRAME_CONTROL_GET_READINESS_RSP = 12;  // ControlReadinessResponse
+  WIFI6_FRAME_CONTROL_EVALUATION_REQ = 13;     // ControllerEvaluationRequest
+  WIFI6_FRAME_CONTROL_EVALUATION_RSP = 14;     // ControlJobResult
+
+  // 传感器域：sensor_calibration.proto / AgvCalibSensorService
+  WIFI6_FRAME_SENSOR_GET_READINESS_REQ = 21;    // AgentReadinessRequest
+  WIFI6_FRAME_SENSOR_GET_READINESS_RSP = 22;    // SensorReadinessResponse
+  WIFI6_FRAME_SENSOR_GET_LATEST_FRAME_REQ = 23; // StreamVehicleSensorDataRequest 的轻量轮询形态
+  WIFI6_FRAME_SENSOR_GET_LATEST_FRAME_RSP = 24; // VehicleSensorFrame
+  WIFI6_FRAME_SENSOR_LIST_SENSORS_REQ = 25;     // Empty 或能力查询请求
+  WIFI6_FRAME_SENSOR_LIST_SENSORS_RSP = 26;     // Sensor 列表响应
+
+  // 外部真值位姿域：external_localization.proto / AgvCalibExternalPoseFeedService
+  WIFI6_FRAME_EXTERNAL_POSE_PUSH_REQ = 31; // ExternalLocalizationTelemetry
+  WIFI6_FRAME_EXTERNAL_POSE_PUSH_RSP = 32; // StandardResponse
+}
+
+// =========================================================
+// TCP 帧头的 protobuf 表达
+// 说明：
+// 1) 这个 message 仅用于文档、测试、代码生成时表达契约
+// 2) 实际线上帧头仍是上面注释中定义的 8 字节小端二进制结构
+// =========================================================
+message Wifi6TcpFrameHeader {
+  Wifi6FrameType msg_type = 1; // 对应 8 字节帧头中的 uint32 msg_type
+  uint32 payload_len = 2;      // 对应 8 字节帧头中的 uint32 payload_len
+}
+
+// =========================================================
+// 逻辑通道端点
+// =========================================================
+message Wifi6ChannelEndpoint {
+  Wifi6Channel channel = 1;
+  Wifi6DefaultPort default_port = 2;
+  Wifi6FrameDirection request_direction = 3;
+  string canonical_proto_file = 4; // 例如 chassis_calibration.proto
+  string canonical_service = 5;    // 例如 AgvCalibChassisService
+}
+
+// =========================================================
+// 请求 / 响应帧映射
+// =========================================================
+message Wifi6FrameMapping {
+  Wifi6Channel channel = 1;
+  Wifi6FrameType request_type = 2;
+  Wifi6FrameType response_type = 3;
+  Wifi6PayloadEncoding payload_encoding = 4;
+  string request_message = 5;  // proto 消息名
+  string response_message = 6; // proto 消息名
+  string rpc_name = 7;         // 对齐的 RPC 名称；轻量轮询可为空
+}
+
+// =========================================================
+// 当前工程默认契约版本
+// =========================================================
+message Wifi6TransportContract {
+  string contract_version = 1; // 当前为 "wifi6_tcp_v1"
+  Wifi6PayloadEncoding default_payload_encoding = 2;
+  repeated Wifi6ChannelEndpoint endpoints = 3;
+  repeated Wifi6FrameMapping frame_mappings = 4;
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/srv/GetAgentReadiness.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/srv/GetAgentReadiness.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/srv/GetAgentReadiness.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/srv/GetAgentReadiness.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/srv/Heartbeat.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/srv/Heartbeat.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/srv/Heartbeat.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/srv/QueryJobStatus.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/srv/QueryJobStatus.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_common_interfaces/srv/QueryJobStatus.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_common_interfaces/srv/QueryJobStatus.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/FILE_TREE.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/FILE_TREE.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/FILE_TREE.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/FILE_TREE.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/action/ExecuteControllerEvaluation.action b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/action/ExecuteControllerEvaluation.action
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/action/ExecuteControllerEvaluation.action
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/action/ExecuteControllerEvaluation.action
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/AccelerationDecelerationTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/AccelerationDecelerationTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/AccelerationDecelerationTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/AccelerationDecelerationTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ActiveControllerParametersResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ActiveControllerParametersResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ActiveControllerParametersResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ActiveControllerParametersResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/CommitControllerParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/CommitControllerParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/CommitControllerParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/CommitControllerParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlJobResult.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlJobResult.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlJobResult.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlJobResult.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg
similarity index 68%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg
index 87dfd3c..60ad539 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlReadinessResponse.msg
@@ -26,3 +26,14 @@ bool vehicle_safe_to_move
 calibration_common_interfaces/ReadinessIssue[] issues
 # 检查时间
 int64 checked_timestamp_us
+
+# 外部真值 / 定位位姿输入是否就绪
+bool external_pose_feedback_ready
+# 当前外部位姿源名称
+string external_pose_source_name
+# 最近一帧外部位姿年龄
+float64 external_pose_age_ms
+# 最近一帧外部位姿质量分数
+float64 external_pose_quality_score
+# 外部位姿传输方式，例如 wifi6
+string external_pose_transport
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg
similarity index 87%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg
index cbc74ee..fe477c2 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlTelemetry.msg
@@ -43,3 +43,8 @@ string parameter_version
 calibration_vehicle_profile_interfaces/ControllerAlgorithmType active_lateral_algorithm
 # 当前纵向算法
 calibration_vehicle_profile_interfaces/ControllerAlgorithmType active_longitudinal_algorithm
+
+# 本帧控制使用的位姿源名称
+string pose_source_name
+# 本帧位姿是否来自外部真值 / 外部定位
+bool pose_from_external_truth
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlValidationSummary.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlValidationSummary.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlValidationSummary.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlValidationSummary.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkMode.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkMode.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkMode.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkMode.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkModeRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkModeRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkModeRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControlWorkModeRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskPurpose.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskPurpose.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskPurpose.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskPurpose.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerEvaluationTaskType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterKind.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterKind.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterKind.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterKind.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterPack.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterPack.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterPack.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterPack.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterSet.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterSet.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterSet.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/ControllerParameterSet.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/GetActiveControllerParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/GetActiveControllerParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/GetActiveControllerParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/GetActiveControllerParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/InjectControllerParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/InjectControllerParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/InjectControllerParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/InjectControllerParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/LQRParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/LQRParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/LQRParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/LQRParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/LateralMPCParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/LateralMPCParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/LateralMPCParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/LateralMPCParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/LongitudinalMPCParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/LongitudinalMPCParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/LongitudinalMPCParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/LongitudinalMPCParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/PIDParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/PIDParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/PIDParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/PIDParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/PurePursuitParams.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/PurePursuitParams.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/PurePursuitParams.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/PurePursuitParams.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/StopAccuracyTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/StopAccuracyTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/StopAccuracyTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/StopAccuracyTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/StreamControlTelemetryRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/StreamControlTelemetryRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/StreamControlTelemetryRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/StreamControlTelemetryRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryPoint.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryPoint.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryPoint.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryPoint.msg
diff --git a/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg
new file mode 100644
index 0000000..353ff30
--- /dev/null
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg
@@ -0,0 +1,25 @@
+# =========================================================
+# 轨迹跟踪评估任务
+# 作用：让车端按当前控制参数跑一条测试轨迹
+# =========================================================
+
+# 轨迹点序列
+calibration_control_interfaces/TrajectoryPoint[] path
+# 结束后是否停车
+bool stop_at_end
+# 超时时间
+float64 timeout_sec
+# 要求使用的外部位姿源 ID
+string required_external_pose_source_id
+# 允许最大外部位姿延迟，0 表示使用车端默认值
+float64 max_external_pose_age_ms
+# 允许最小外部位姿质量分数，0 表示使用车端默认值
+float64 min_external_pose_quality_score
+# 轨迹 ID，用于分段下发时关联多段轨迹
+string trajectory_id
+# 当前轨迹段序号，从 0 开始
+uint32 segment_index
+# 总段数；0 或 1 表示本请求携带完整轨迹
+uint32 total_segments
+# 当前段是否为最后一段，作为 total_segments 的冗余校验
+bool is_final_segment
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/VelocityStepTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/VelocityStepTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/VelocityStepTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/msg/VelocityStepTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/control_calibration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/proto/control_calibration.proto
similarity index 93%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/control_calibration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/proto/control_calibration.proto
index 61a04c4..307e21b 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/control_calibration.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/proto/control_calibration.proto
@@ -115,6 +115,12 @@ message ControlReadinessResponse {
   bool vehicle_safe_to_move = 9;      // 当前车辆是否允许移动
   repeated .agv.calibration.common.ReadinessIssue issues = 10; // 不满足项
   int64 checked_timestamp_us = 11;    // 检查时间
+
+  bool external_pose_feedback_ready = 12; // 外部真值 / 定位位姿输入是否就绪
+  string external_pose_source_name = 13;  // 当前外部位姿源名称
+  double external_pose_age_ms = 14;       // 最近一帧外部位姿年龄
+  double external_pose_quality_score = 15; // 最近一帧外部位姿质量分数
+  string external_pose_transport = 16;    // 外部位姿传输方式，例如 wifi6
 }
 
 // =========================================================
@@ -249,6 +255,13 @@ message TrajectoryTrackingTask {
   repeated TrajectoryPoint path = 1; // 轨迹点序列
   bool stop_at_end = 2;              // 结束后是否停车
   double timeout_sec = 3;            // 超时时间
+  string required_external_pose_source_id = 4; // 要求使用的外部位姿源 ID
+  double max_external_pose_age_ms = 5;         // 允许最大外部位姿延迟
+  double min_external_pose_quality_score = 6;  // 允许最小外部位姿质量分数
+  string trajectory_id = 7;                    // 轨迹 ID，用于分段下发时关联多段轨迹
+  uint32 segment_index = 8;                    // 当前轨迹段序号，从 0 开始
+  uint32 total_segments = 9;                   // 总段数；0 或 1 表示本请求携带完整轨迹
+  bool is_final_segment = 10;                  // 当前段是否为最后一段，作为 total_segments 的冗余校验
 }
 
 // =========================================================
@@ -353,6 +366,9 @@ message ControlTelemetry {
   string parameter_version = 15;   // 当前生效参数版本
   .agv.calibration.vehicle.profile.ControllerAlgorithmType active_lateral_algorithm = 16; // 当前横向算法
   .agv.calibration.vehicle.profile.ControllerAlgorithmType active_longitudinal_algorithm = 17; // 当前纵向算法
+
+  string pose_source_name = 18;     // 本帧控制使用的位姿源名称
+  bool pose_from_external_truth = 19; // 本帧位姿是否来自外部真值 / 外部定位
 }
 
 // =========================================================
@@ -420,4 +436,4 @@ message ControlJobResult {
   ControlValidationSummary validation_summary = 8; // 验证摘要
   ControllerParameterSet estimated_parameter_set = 9; // 本轮估计参数集
   repeated .agv.calibration.common.FileReference artifacts = 10; // 关联产物
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/CancelControlJob.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/CancelControlJob.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/CancelControlJob.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/CancelControlJob.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/CommitControllerParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/CommitControllerParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/CommitControllerParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/CommitControllerParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/EmergencyStop.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/EmergencyStop.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/EmergencyStop.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/EmergencyStop.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetActiveControllerParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetActiveControllerParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetActiveControllerParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetActiveControllerParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobStatus.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobStatus.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobStatus.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlJobStatus.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlReadiness.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlReadiness.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlReadiness.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/GetControlReadiness.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/Heartbeat.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/Heartbeat.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/Heartbeat.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/InjectControllerParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/InjectControllerParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/InjectControllerParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/InjectControllerParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/SetControlWorkMode.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/SetControlWorkMode.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/SetControlWorkMode.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/SetControlWorkMode.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/StartControllerEvaluation.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/StartControllerEvaluation.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/StartControllerEvaluation.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/StartControllerEvaluation.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/StreamControlTelemetry.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/StreamControlTelemetry.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/srv/StreamControlTelemetry.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_control_interfaces/srv/StreamControlTelemetry.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/FILE_TREE.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/FILE_TREE.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/FILE_TREE.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/FILE_TREE.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/action/ExecuteExternalLocalizationTask.action b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/action/ExecuteExternalLocalizationTask.action
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/action/ExecuteExternalLocalizationTask.action
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/action/ExecuteExternalLocalizationTask.action
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/AppliedExternalLocalizationResultResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/AppliedExternalLocalizationResultResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/AppliedExternalLocalizationResultResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/AppliedExternalLocalizationResultResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/CommitExternalLocalizationResultRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/CommitExternalLocalizationResultRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/CommitExternalLocalizationResultRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/CommitExternalLocalizationResultRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCalibrationResult.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCalibrationResult.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCalibrationResult.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCalibrationResult.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationCapabilityResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationJobResult.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationJobResult.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationJobResult.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationJobResult.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationReadinessResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationReadinessResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationReadinessResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationReadinessResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPayloadType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPayloadType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPayloadType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPayloadType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPurpose.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPurpose.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPurpose.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskPurpose.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTaskRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTelemetry.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTelemetry.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTelemetry.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationTelemetry.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationValidationSummary.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationValidationSummary.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationValidationSummary.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationValidationSummary.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkMode.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkMode.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkMode.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkMode.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkModeRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkModeRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkModeRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ExternalLocalizationWorkModeRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/GetAppliedExternalLocalizationResultRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/GetAppliedExternalLocalizationResultRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/GetAppliedExternalLocalizationResultRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/GetAppliedExternalLocalizationResultRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/MarkerAlignmentTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/MarkerAlignmentTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/MarkerAlignmentTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/MarkerAlignmentTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ReferencePoseCollectionTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ReferencePoseCollectionTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ReferencePoseCollectionTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/ReferencePoseCollectionTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/StreamExternalLocalizationTelemetryRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/StreamExternalLocalizationTelemetryRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/StreamExternalLocalizationTelemetryRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/StreamExternalLocalizationTelemetryRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/TruthSourceValidationTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/TruthSourceValidationTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/TruthSourceValidationTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/msg/TruthSourceValidationTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/external_localization.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/proto/external_localization.proto
similarity index 87%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/external_localization.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/proto/external_localization.proto
index 35749b7..069bb81 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/external_localization.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/proto/external_localization.proto
@@ -69,6 +69,30 @@ service AgvCalibExternalLocalizationService {
       returns (.agv.calibration.common.StandardResponse);
 }
 
+// =========================================================
+// 服务：外部真值位姿下发服务
+// 运行位置：Ubuntu 车间电脑 / 外部真值系统桥接进程
+// 调用方：Windows 车端代理
+// 传输介质：现场通过 WiFi 6 网络承载
+// 作用：
+// 1) 让车端在执行轨迹跟踪时获得车间坐标系下的实时位姿
+// 2) 与 StreamExternalLocalizationTelemetry 使用同一位姿消息结构
+// 3) 车端不得把底盘里程计当成默认全局位姿源，只可作为降级输入
+// =========================================================
+service AgvCalibExternalPoseFeedService {
+  // 心跳保活，用于车端确认外部真值链路在线
+  rpc Heartbeat(.agv.calibration.common.HeartbeatRequest)
+      returns (.agv.calibration.common.HeartbeatResponse);
+
+  // 车端订阅外部真值位姿流
+  rpc StreamExternalPoseToVehicle(ExternalPoseFeedRequest)
+      returns (stream ExternalLocalizationTelemetry);
+
+  // 可选：外部真值系统主动推送单帧位姿到车端
+  rpc PushExternalPoseToVehicle(ExternalLocalizationTelemetry)
+      returns (.agv.calibration.common.StandardResponse);
+}
+
 // =========================================================
 // 外部定位工作模式请求
 // 作用：切换外部定位桥接服务到不同模式
@@ -238,6 +262,20 @@ message StreamExternalLocalizationTelemetryRequest {
   bool include_tracking_state = 6;                  // 是否包含跟踪状态
 }
 
+// =========================================================
+// 外部真值位姿下发请求
+// 作用：车端通过 WiFi 6 请求工控机 / 外部真值桥接进程提供实时位姿流
+// =========================================================
+message ExternalPoseFeedRequest {
+  .agv.calibration.common.RequestHeader header = 1; // 请求头
+  string vehicle_id = 2;                            // 目标车辆 ID
+  string localization_source_id = 3;                // 外部真值源 ID
+  string workcell_zone_id = 4;                      // 工位 / 区域 ID
+  uint32 expected_hz = 5;                           // 期望下发频率
+  double max_pose_age_ms = 6;                       // 允许最大位姿延迟
+  bool require_quality_metrics = 7;                 // 是否要求质量指标
+}
+
 // =========================================================
 // 外部定位遥测
 // 作用：回传外部定位实时观测结果
@@ -248,7 +286,7 @@ message ExternalLocalizationTelemetry {
   int64 hardware_timestamp_us = 1; // 硬件时间戳
   bool pose_valid = 2;             // 位姿是否有效
 
-  .agv.calibration.common.Pose3dEuler workshop_pose = 3; // 在车间参考系下的位姿
+  .agv.calibration.common.Pose3D workshop_pose = 3; // 在车间参考系下的位姿
 
   double position_stddev_m = 4;    // 位置标准差
   double yaw_stddev_rad = 5;       // 航向标准差
@@ -269,7 +307,7 @@ message ExternalLocalizationCalibrationResult {
   string workshop_frame_id = 1; // 车间参考坐标系 ID
   string localization_frame_id = 2; // 外部定位坐标系 ID
 
-  .agv.calibration.common.Pose3dEuler workshop_to_localization = 3; // 车间系到定位系的位姿
+  .agv.calibration.common.Pose3D workshop_to_localization = 3; // 车间系到定位系的位姿
 
   double position_repeatability_m = 4; // 位置重复性
   double yaw_repeatability_rad = 5;    // 航向重复性
@@ -334,4 +372,4 @@ message ExternalLocalizationJobResult {
   ExternalLocalizationValidationSummary validation_summary = 9; // 真值参考验证摘要
   ExternalLocalizationCalibrationResult result = 10; // 结果内容
   repeated .agv.calibration.common.FileReference artifacts = 11; // 关联产物
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CancelExternalLocalizationJob.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CancelExternalLocalizationJob.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CancelExternalLocalizationJob.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CancelExternalLocalizationJob.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CommitExternalLocalizationResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CommitExternalLocalizationResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CommitExternalLocalizationResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/CommitExternalLocalizationResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/EmergencyStop.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/EmergencyStop.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/EmergencyStop.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/EmergencyStop.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetAppliedExternalLocalizationResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetAppliedExternalLocalizationResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetAppliedExternalLocalizationResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetAppliedExternalLocalizationResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationCapability.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationCapability.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationCapability.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationCapability.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobStatus.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobStatus.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobStatus.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationJobStatus.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationReadiness.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationReadiness.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationReadiness.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/GetExternalLocalizationReadiness.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/Heartbeat.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/Heartbeat.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/Heartbeat.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/SetExternalLocalizationWorkMode.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/SetExternalLocalizationWorkMode.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/SetExternalLocalizationWorkMode.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/SetExternalLocalizationWorkMode.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StartExternalLocalizationTask.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StartExternalLocalizationTask.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StartExternalLocalizationTask.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StartExternalLocalizationTask.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StreamExternalLocalizationTelemetry.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StreamExternalLocalizationTelemetry.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StreamExternalLocalizationTelemetry.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_external_localization_interfaces/srv/StreamExternalLocalizationTelemetry.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/FILE_TREE.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/FILE_TREE.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/FILE_TREE.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/FILE_TREE.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/action/ExecuteSensorCalibrationTask.action b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/action/ExecuteSensorCalibrationTask.action
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/action/ExecuteSensorCalibrationTask.action
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/action/ExecuteSensorCalibrationTask.action
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/AppliedSensorCalibrationParametersResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/AppliedSensorCalibrationParametersResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/AppliedSensorCalibrationParametersResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/AppliedSensorCalibrationParametersResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/ArtifactType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/ArtifactType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/ArtifactType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/ArtifactType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationArtifact.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationArtifact.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationArtifact.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationArtifact.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationReferenceTarget.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationReferenceTarget.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationReferenceTarget.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CalibrationReferenceTarget.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsicCalibrationTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsicCalibrationTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsicCalibrationTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsicCalibrationTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsics.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsics.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsics.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraIntrinsics.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraModelType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraModelType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraModelType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CameraModelType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CaptureIntentType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CaptureIntentType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CaptureIntentType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CaptureIntentType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CommitSensorCalibrationParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CommitSensorCalibrationParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CommitSensorCalibrationParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/CommitSensorCalibrationParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/GetAppliedSensorCalibrationParametersRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/GetAppliedSensorCalibrationParametersRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/GetAppliedSensorCalibrationParametersRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/GetAppliedSensorCalibrationParametersRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationMode.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationMode.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationMode.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationMode.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/HandEyeCalibrationTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsicCalibrationTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsicCalibrationTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsicCalibrationTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsicCalibrationTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsics.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsics.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsics.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/IMUIntrinsics.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationCapabilityResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationJobResult.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationJobResult.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationJobResult.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationJobResult.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameter.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameter.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameter.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameter.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameterSet.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameterSet.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameterSet.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationParameterSet.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskPurpose.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskPurpose.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskPurpose.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskPurpose.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskSubtype.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskSubtype.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskSubtype.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskSubtype.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTaskType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTelemetry.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTelemetry.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTelemetry.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationTelemetry.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkMode.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkMode.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkMode.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkMode.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkModeRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkModeRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkModeRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorCalibrationWorkModeRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorExtrinsics.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorExtrinsics.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorExtrinsics.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorExtrinsics.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorReadinessResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorReadinessResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorReadinessResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorReadinessResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorToBaseExtrinsicCalibrationTask.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorToBaseExtrinsicCalibrationTask.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorToBaseExtrinsicCalibrationTask.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorToBaseExtrinsicCalibrationTask.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorValidationSummary.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorValidationSummary.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorValidationSummary.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/SensorValidationSummary.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/StreamSensorCalibrationTelemetryRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/StreamSensorCalibrationTelemetryRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/msg/StreamSensorCalibrationTelemetryRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/msg/StreamSensorCalibrationTelemetryRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/sensor_calibration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/proto/sensor_calibration.proto
similarity index 70%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/sensor_calibration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/proto/sensor_calibration.proto
index 38d0096..a121b55 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/sensor_calibration.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/proto/sensor_calibration.proto
@@ -11,7 +11,7 @@ import "vehicle_profile.proto";
 // Ubuntu 车间电脑(Linux) -> Windows 车端代理 / 采集服务
 // 说明：
 // 1) Linux 负责图像 / 点云 / 激光扫描 / IMU 数据分析与参数求解
-// 2) 车端 / 采集服务只负责组织采集、回传观测状态、写入结果
+// 2) 车端 / 采集服务负责订阅车端传感器、组织采集、回传原始数据和观测状态、写入结果
 // 3) 支持相机内参、IMU 内参、传感器外参、手眼标定
 // 4) 支持相机“只做内参 / 只做外参 / 内外参都做”
 // =========================================================
@@ -58,6 +58,10 @@ service AgvCalibSensorService {
   rpc StreamSensorCalibrationTelemetry(StreamSensorCalibrationTelemetryRequest)
       returns (stream SensorCalibrationTelemetry);
 
+  // 打开车端传感器原始数据流；用于 WiFi6 把车载相机、雷达、IMU 数据传给车间电脑
+  rpc StreamVehicleSensorData(StreamVehicleSensorDataRequest)
+      returns (stream VehicleSensorFrame);
+
   // 写入传感器标定参数
   rpc CommitSensorCalibrationParameters(CommitSensorCalibrationParametersRequest)
       returns (.agv.calibration.common.StandardResponse);
@@ -71,6 +75,22 @@ service AgvCalibSensorService {
       returns (.agv.calibration.common.StandardResponse);
 }
 
+// =========================================================
+// 服务：车间电脑传感器数据接收服务
+// 运行位置：Ubuntu 车间电脑
+// 调用方：Windows 车端代理 / 仿真车端代理
+// 说明：
+// 1) 当现场网络策略采用车端主动上报时使用
+// 2) 与 StreamVehicleSensorData 使用同一帧结构
+// =========================================================
+service AgvCalibWorkshopSensorIngestService {
+  rpc Heartbeat(.agv.calibration.common.HeartbeatRequest)
+      returns (.agv.calibration.common.HeartbeatResponse);
+
+  rpc PushVehicleSensorFrame(VehicleSensorFrame)
+      returns (.agv.calibration.common.StandardResponse);
+}
+
 // =========================================================
 // 传感器标定工作模式
 // 作用：切换采集服务到不同模式
@@ -109,6 +129,10 @@ message SensorReadinessResponse {
   repeated string ready_sensor_ids = 10; // 已就绪的传感器 ID
   repeated .agv.calibration.common.ReadinessIssue issues = 11; // 不满足项
   int64 checked_timestamp_us = 12;      // 检查时间
+
+  bool sensor_data_stream_ready = 13;   // 车端原始传感器数据流是否就绪
+  repeated string streaming_sensor_ids = 14; // 当前可被转发到车间电脑的传感器 ID
+  string sensor_data_transport = 15;    // 传输方式，例如 wifi6 / wifi6_sim_tcp
 }
 
 // =========================================================
@@ -137,6 +161,9 @@ message SensorCalibrationCapabilityResponse {
   bool supports_2d_lidar_extrinsic = 9;       // 是否支持 2D 激光雷达外参
   bool supports_camera_only_intrinsic = 10;   // 是否支持仅做相机内参
   bool supports_camera_only_extrinsic = 11;   // 是否支持仅做相机外参
+  bool supports_vehicle_sensor_data_stream = 12; // 是否支持车端原始传感器数据流
+  bool supports_sensor_frame_chunking = 13;      // 是否支持大帧分片传输
+  bool supports_compressed_image_stream = 14;    // 是否支持压缩图像流
 }
 
 // =========================================================
@@ -238,8 +265,8 @@ enum SensorCalibrationTaskSubtype {
   IMU_EXTRINSIC = 6;
   LIDAR_2D_EXTRINSIC = 7;
   LIDAR_3D_EXTRINSIC = 8;
-  EYE_IN_HAND = 9;
-  EYE_TO_HAND = 10;
+  HAND_EYE_IN_HAND = 9;
+  HAND_EYE_TO_HAND = 10;
 }
 
 // =========================================================
@@ -300,6 +327,161 @@ message SensorCalibrationTelemetry {
   CaptureIntentType capture_intent = 9; // 当前采集意图
 }
 
+// =========================================================
+// 车端传感器原始数据流请求
+// 作用：车间电脑指定要接收哪些车端传感器数据
+// =========================================================
+message StreamVehicleSensorDataRequest {
+  .agv.calibration.common.RequestHeader header = 1; // 请求头
+  repeated string sensor_ids = 2;                   // 要接收的传感器 ID；为空表示由任务决定
+  repeated .agv.calibration.vehicle.profile.SensorType sensor_types = 3; // 要接收的传感器类型
+  uint32 expected_hz = 4;                           // 期望上报频率，0 表示车端默认
+  uint32 max_frame_payload_bytes = 5;               // 单个分片最大 payload，0 表示车端默认
+  bool allow_compressed = 6;                        // 是否允许压缩图像 / 点云
+  bool include_camera_info = 7;                     // 是否随图像携带相机内参初值
+  CaptureIntentType capture_intent = 8;             // 数据采集意图
+  string active_job_id = 9;                         // 关联的标定任务 ID
+}
+
+// =========================================================
+// 传感器原始帧负载类型
+// =========================================================
+enum SensorFramePayloadType {
+  SENSOR_FRAME_PAYLOAD_TYPE_UNSPECIFIED = 0;
+  IMAGE_FRAME = 1;        // 相机图像
+  POINT_CLOUD_FRAME = 2;  // 3D 激光雷达点云
+  LASER_SCAN_FRAME = 3;   // 2D 激光雷达扫描
+  IMU_FRAME = 4;          // IMU 数据
+  CAMERA_INFO_FRAME = 5;  // 相机内参 / camera_info
+  RAW_BYTES_FRAME = 6;    // 预留给厂商私有二进制格式
+}
+
+// =========================================================
+// 传感器原始帧公共头
+// =========================================================
+message VehicleSensorFrameHeader {
+  string sensor_id = 1;    // 传感器 ID，例如 demo_front_camera
+  .agv.calibration.vehicle.profile.SensorType sensor_type = 2; // 传感器类型
+  string frame_id = 3;     // ROS / 车端坐标系 frame_id
+  int64 hardware_timestamp_us = 4; // 硬件时间戳
+  uint64 sequence_id = 5;  // 单传感器递增帧号
+  string active_job_id = 6; // 关联任务 ID
+  CaptureIntentType capture_intent = 7; // 采集意图
+}
+
+// =========================================================
+// 图像帧
+// 对齐 ROS sensor_msgs/Image 的核心字段
+// =========================================================
+message VehicleImageFrame {
+  uint32 width = 1;        // 图像宽度
+  uint32 height = 2;       // 图像高度
+  string encoding = 3;     // 例如 rgb8 / bgr8 / mono8 / jpeg / png
+  bool is_bigendian = 4;   // 字节序
+  uint32 step = 5;         // 每行字节数
+  bytes data = 6;          // 图像数据或分片数据
+  string compression = 7;  // none / jpeg / png
+  CameraIntrinsics camera_intrinsics_hint = 8; // 可选内参初值或当前参数
+}
+
+// =========================================================
+// PointCloud2 字段描述
+// =========================================================
+enum PointCloudFieldDataType {
+  POINT_CLOUD_FIELD_DATA_TYPE_UNSPECIFIED = 0;
+  POINT_CLOUD_FIELD_INT8 = 1;
+  POINT_CLOUD_FIELD_UINT8 = 2;
+  POINT_CLOUD_FIELD_INT16 = 3;
+  POINT_CLOUD_FIELD_UINT16 = 4;
+  POINT_CLOUD_FIELD_INT32 = 5;
+  POINT_CLOUD_FIELD_UINT32 = 6;
+  POINT_CLOUD_FIELD_FLOAT32 = 7;
+  POINT_CLOUD_FIELD_FLOAT64 = 8;
+}
+
+message PointCloudField {
+  string name = 1;                    // 字段名，例如 x / y / z / intensity
+  uint32 offset = 2;                   // 字节偏移
+  PointCloudFieldDataType datatype = 3; // 数据类型
+  uint32 count = 4;                    // 元素数量
+}
+
+// =========================================================
+// 3D 点云帧
+// 对齐 ROS sensor_msgs/PointCloud2 的核心字段
+// =========================================================
+message VehiclePointCloudFrame {
+  uint32 height = 1;
+  uint32 width = 2;
+  repeated PointCloudField fields = 3;
+  bool is_bigendian = 4;
+  uint32 point_step = 5;
+  uint32 row_step = 6;
+  bytes data = 7;        // 点云数据或分片数据
+  bool is_dense = 8;
+  string compression = 9; // none / zstd / lz4 / vendor
+}
+
+// =========================================================
+// 2D 激光雷达扫描帧
+// 对齐 ROS sensor_msgs/LaserScan 的核心字段
+// =========================================================
+message VehicleLaserScanFrame {
+  double angle_min_rad = 1;
+  double angle_max_rad = 2;
+  double angle_increment_rad = 3;
+  double time_increment_sec = 4;
+  double scan_time_sec = 5;
+  double range_min_m = 6;
+  double range_max_m = 7;
+  repeated float ranges_m = 8;
+  repeated float intensities = 9;
+}
+
+// =========================================================
+// IMU 帧
+// 对齐 ROS sensor_msgs/Imu 的核心字段
+// =========================================================
+message VehicleImuFrame {
+  double orientation_x = 1;
+  double orientation_y = 2;
+  double orientation_z = 3;
+  double orientation_w = 4;
+  repeated double orientation_covariance = 5;
+  .agv.calibration.common.Vector3D angular_velocity = 6;
+  repeated double angular_velocity_covariance = 7;
+  .agv.calibration.common.Vector3D linear_acceleration = 8;
+  repeated double linear_acceleration_covariance = 9;
+}
+
+// =========================================================
+// 车端传感器原始帧
+// 作用：通过 WiFi6 在车端和车间电脑之间传输相机 / 雷达 / IMU 数据
+// 说明：
+// 1) fragment_index / total_fragments 用于大图像或点云分片
+// 2) total_fragments 为 0 或 1 表示本消息携带完整帧
+// 3) oneof 中的数据字段可携带完整数据，也可携带当前分片数据
+// =========================================================
+message VehicleSensorFrame {
+  VehicleSensorFrameHeader header = 1;  // 公共帧头
+  SensorFramePayloadType payload_type = 2; // 负载类型
+  string stream_id = 3;                 // 数据流 ID
+  uint32 fragment_index = 4;            // 当前分片序号，从 0 开始
+  uint32 total_fragments = 5;           // 总分片数；0 或 1 表示完整帧
+  bool is_final_fragment = 6;           // 当前是否最后一个分片
+  uint32 uncompressed_size_bytes = 7;   // 解压后总大小，用于校验
+  string payload_digest = 8;            // 完整帧摘要，例如 sha256:...
+
+  oneof payload {
+    VehicleImageFrame image = 20;
+    VehiclePointCloudFrame point_cloud = 21;
+    VehicleLaserScanFrame laser_scan = 22;
+    VehicleImuFrame imu = 23;
+    CameraIntrinsics camera_info = 24;
+    bytes raw_payload = 25;
+  }
+}
+
 // =========================================================
 // 相机模型类型
 // 作用：表达相机内参使用的模型
@@ -335,8 +517,8 @@ message CameraIntrinsics {
 // 3) 采用强约束三维向量，不再使用 repeated double
 // =========================================================
 message IMUIntrinsics {
-  .agv.calibration.common.Vector3d accel_bias = 1; // 加速度计偏置
-  .agv.calibration.common.Vector3d gyro_bias = 2;  // 陀螺仪偏置
+  .agv.calibration.common.Vector3D accel_bias = 1; // 加速度计偏置
+  .agv.calibration.common.Vector3D gyro_bias = 2;  // 陀螺仪偏置
 }
 
 // =========================================================
@@ -347,7 +529,7 @@ message IMUIntrinsics {
 message SensorExtrinsics {
   string parent_frame_id = 1;                      // 父坐标系，一般为 base_link
   string child_frame_id = 2;                       // 子坐标系，一般为 sensor frame
-  .agv.calibration.common.Pose3dEuler parent_to_child = 3; // 父到子的位姿
+  .agv.calibration.common.Pose3D parent_to_child = 3; // 父到子的位姿
 }
 
 // =========================================================
@@ -461,4 +643,4 @@ message SensorCalibrationJobResult {
   SensorValidationSummary validation_summary = 8; // 验证摘要
   SensorCalibrationParameterSet estimated_params = 9; // 本轮估计参数
   repeated CalibrationArtifact artifacts = 10;    // 关联产物
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CancelSensorCalibrationJob.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CancelSensorCalibrationJob.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CancelSensorCalibrationJob.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CancelSensorCalibrationJob.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CommitSensorCalibrationParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CommitSensorCalibrationParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CommitSensorCalibrationParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/CommitSensorCalibrationParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/EmergencyStop.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/EmergencyStop.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/EmergencyStop.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/EmergencyStop.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetAppliedSensorCalibrationParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetAppliedSensorCalibrationParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetAppliedSensorCalibrationParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetAppliedSensorCalibrationParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationCapability.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationCapability.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationCapability.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationCapability.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobStatus.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobStatus.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobStatus.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorCalibrationJobStatus.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorReadiness.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorReadiness.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorReadiness.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/GetSensorReadiness.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/Heartbeat.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/Heartbeat.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/Heartbeat.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/SetSensorCalibrationWorkMode.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/SetSensorCalibrationWorkMode.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/SetSensorCalibrationWorkMode.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/SetSensorCalibrationWorkMode.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StartSensorCalibrationTask.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StartSensorCalibrationTask.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StartSensorCalibrationTask.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StartSensorCalibrationTask.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StreamSensorCalibrationTelemetry.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StreamSensorCalibrationTelemetry.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StreamSensorCalibrationTelemetry.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_sensor_interfaces/srv/StreamSensorCalibrationTelemetry.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/FILE_TREE.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/FILE_TREE.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/FILE_TREE.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/FILE_TREE.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ApplicabilityIssue.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ApplicabilityIssue.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ApplicabilityIssue.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ApplicabilityIssue.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationAbilityType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationAbilityType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationAbilityType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationAbilityType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationCapability.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationCapability.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationCapability.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationCapability.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationModuleType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationModuleType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationModuleType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CalibrationModuleType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CameraMountType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CameraMountType.msg
similarity index 97%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CameraMountType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CameraMountType.msg
index fdf7125..c8cfd45 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CameraMountType.msg
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/CameraMountType.msg
@@ -11,4 +11,4 @@ uint8 EYE_IN_HAND=4                    # 眼在手上
 uint8 EYE_TO_HAND=5                    # 眼在手外
 
 # 当前枚举取值
-uint8 value
\ No newline at end of file
+uint8 value
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ChassisType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ChassisType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ChassisType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ChassisType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControlAxisType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControlAxisType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControlAxisType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControlAxisType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerAlgorithmType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerAlgorithmType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerAlgorithmType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerAlgorithmType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerProfile.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerProfile.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerProfile.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerProfile.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerSelection.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerSelection.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerSelection.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/ControllerSelection.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/EvaluateVehicleCalibrationApplicabilityRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/EvaluateVehicleCalibrationApplicabilityRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/EvaluateVehicleCalibrationApplicabilityRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/EvaluateVehicleCalibrationApplicabilityRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/MechanicalArmProfile.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/MechanicalArmProfile.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/MechanicalArmProfile.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/MechanicalArmProfile.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/RegisterOrUpdateVehicleProfileRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/RegisterOrUpdateVehicleProfileRequest.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/RegisterOrUpdateVehicleProfileRequest.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/RegisterOrUpdateVehicleProfileRequest.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorProfile.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorProfile.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorProfile.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorProfile.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorType.msg
similarity index 97%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorType.msg
index 22ad7d9..b8d08aa 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorType.msg
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/SensorType.msg
@@ -12,4 +12,4 @@ uint8 LIDAR_2D=5                 # 2D 激光雷达
 uint8 IMU=6                      # IMU
 
 # 当前枚举取值
-uint8 value
\ No newline at end of file
+uint8 value
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleBaseInfo.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleBaseInfo.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleBaseInfo.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleBaseInfo.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleCalibrationApplicabilityResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleCalibrationApplicabilityResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleCalibrationApplicabilityResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleCalibrationApplicabilityResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfile.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfile.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfile.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfile.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileQuery.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileQuery.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileQuery.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileQuery.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileResponse.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileResponse.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileResponse.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/VehicleProfileResponse.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/WorkflowStageType.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/WorkflowStageType.msg
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/WorkflowStageType.msg
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/msg/WorkflowStageType.msg
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/vehicle_profile.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/proto/vehicle_profile.proto
similarity index 99%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/vehicle_profile.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/proto/vehicle_profile.proto
index 678fccd..a396702 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/vehicle_profile.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/proto/vehicle_profile.proto
@@ -352,4 +352,4 @@ message VehicleCalibrationApplicabilityResponse {
   repeated ApplicabilityIssue issues = 5;            // 问题列表
   bool overall_supported = 6;                        // 是否总体可开展标定
   repeated WorkflowStageType recommended_workflow_stages = 7; // 推荐执行阶段
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/EvaluateVehicleCalibrationApplicability.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/EvaluateVehicleCalibrationApplicability.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/EvaluateVehicleCalibrationApplicability.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/EvaluateVehicleCalibrationApplicability.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/GetVehicleProfile.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/GetVehicleProfile.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/GetVehicleProfile.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/GetVehicleProfile.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/Heartbeat.srv
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/RegisterOrUpdateVehicleProfile.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/srv/RegisterOrUpdateVehicleProfile.srv
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/CMakeLists.txt
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/msg/BuildExecutionPlanRequest.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/msg/BuildExecutionPlanRequest.msg
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/msg/StageExecutionPolicy.msg b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/msg/StageExecutionPolicy.msg
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/package.xml
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/proto/workshop_orchestration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/proto/workshop_orchestration.proto
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ApproveStageResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ApproveStageResult.srv
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rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ApproveStageResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ApproveStageResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/BuildExecutionPlan.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/BuildExecutionPlan.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/BuildExecutionPlan.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/BuildExecutionPlan.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CancelWorkshopSession.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CancelWorkshopSession.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CancelWorkshopSession.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CancelWorkshopSession.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CreateWorkshopSession.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CreateWorkshopSession.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CreateWorkshopSession.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/CreateWorkshopSession.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetLastWorkshopPrecheckResult.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetLastWorkshopPrecheckResult.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetLastWorkshopPrecheckResult.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetLastWorkshopPrecheckResult.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopJobStatus.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopJobStatus.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopJobStatus.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopJobStatus.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopReport.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopReport.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopReport.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopReport.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopSession.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopSession.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopSession.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/GetWorkshopSession.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/Heartbeat.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/Heartbeat.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/Heartbeat.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/Heartbeat.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/PauseWorkshopSession.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/PauseWorkshopSession.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/PauseWorkshopSession.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/PauseWorkshopSession.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RebuildExecutionPlan.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RebuildExecutionPlan.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RebuildExecutionPlan.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RebuildExecutionPlan.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ResumeWorkshopSession.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ResumeWorkshopSession.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ResumeWorkshopSession.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ResumeWorkshopSession.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RollbackStageParameters.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RollbackStageParameters.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RollbackStageParameters.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RollbackStageParameters.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RunWorkshopPrecheck.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RunWorkshopPrecheck.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RunWorkshopPrecheck.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/RunWorkshopPrecheck.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StartWorkshopSession.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StartWorkshopSession.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StartWorkshopSession.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StartWorkshopSession.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StreamWorkshopEvent.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StreamWorkshopEvent.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StreamWorkshopEvent.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/StreamWorkshopEvent.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ValidateExecutionPlan.srv b/agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ValidateExecutionPlan.srv
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ValidateExecutionPlan.srv
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/calibration_workshop_orchestration_interfaces/srv/ValidateExecutionPlan.srv
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/chassis_bridge_node.hpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/chassis_bridge_node.hpp
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/chassis_bridge_node.hpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/chassis_bridge_node.hpp
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/control_bridge_node.hpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/control_bridge_node.hpp
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/control_bridge_node.hpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/control_bridge_node.hpp
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/gateway_codec.hpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/gateway_codec.hpp
similarity index 94%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/gateway_codec.hpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/gateway_codec.hpp
index 7d9feb1..64e438a 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/gateway_codec.hpp
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/gateway_codec.hpp
@@ -281,7 +281,14 @@ inline std::string encode_controller_evaluation_request(
       j["trajectory_tracking"] = {
         {"path",        path_arr},
         {"stop_at_end", req.trajectory_tracking.stop_at_end},
-        {"timeout_sec", req.trajectory_tracking.timeout_sec}
+        {"timeout_sec", req.trajectory_tracking.timeout_sec},
+        {"required_external_pose_source_id", req.trajectory_tracking.required_external_pose_source_id},
+        {"max_external_pose_age_ms", req.trajectory_tracking.max_external_pose_age_ms},
+        {"min_external_pose_quality_score", req.trajectory_tracking.min_external_pose_quality_score},
+        {"trajectory_id", req.trajectory_tracking.trajectory_id},
+        {"segment_index", req.trajectory_tracking.segment_index},
+        {"total_segments", req.trajectory_tracking.total_segments},
+        {"is_final_segment", req.trajectory_tracking.is_final_segment}
       };
       break;
     }
@@ -334,6 +341,11 @@ inline void decode_control_readiness_response(
     rsp.estop_released            = j.value("estop_released",            false);
     rsp.vehicle_safe_to_move      = j.value("vehicle_safe_to_move",      false);
     rsp.checked_timestamp_us      = j.value("checked_timestamp_us",      int64_t{0});
+    rsp.external_pose_feedback_ready = j.value("external_pose_feedback_ready", false);
+    rsp.external_pose_source_name = j.value("external_pose_source_name", std::string{});
+    rsp.external_pose_age_ms = j.value("external_pose_age_ms", 0.0);
+    rsp.external_pose_quality_score = j.value("external_pose_quality_score", 0.0);
+    rsp.external_pose_transport = j.value("external_pose_transport", std::string{});
     if (j.contains("error_code")) {
       decode_error_code(j["error_code"], rsp.error_code);
     }
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/proto_frame.hpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/proto_frame.hpp
similarity index 70%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/proto_frame.hpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/proto_frame.hpp
index d2c20d0..d9acc4b 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/proto_frame.hpp
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/proto_frame.hpp
@@ -7,6 +7,7 @@ namespace vehicle_agent_gateway
 {
 
 // 消息帧类型枚举
+// 必须与 proto/transport_contract.proto 中的 Wifi6FrameType 保持一致。
 // 帧格式：[4字节LE: msg_type][4字节LE: payload_len][payload_len字节: payload]
 enum class MsgType : uint32_t
 {
@@ -23,6 +24,18 @@ enum class MsgType : uint32_t
   CONTROL_GET_READINESS_RSP  = 12,
   CONTROL_EVALUATION_REQ     = 13,
   CONTROL_EVALUATION_RSP     = 14,
+
+  // 传感器域
+  SENSOR_GET_READINESS_REQ   = 21,
+  SENSOR_GET_READINESS_RSP   = 22,
+  SENSOR_GET_LATEST_FRAME_REQ = 23,
+  SENSOR_GET_LATEST_FRAME_RSP = 24,
+  SENSOR_LIST_SENSORS_REQ    = 25,
+  SENSOR_LIST_SENSORS_RSP    = 26,
+
+  // 外部真值位姿域：车间工控机/真值系统通过 WiFi6 推给车端
+  EXTERNAL_POSE_PUSH_REQ = 31,
+  EXTERNAL_POSE_PUSH_RSP = 32,
 };
 
 // 向 fd 发送一帧。payload 可以为空（长度字段写 0）。
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/tcp_client.hpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/tcp_client.hpp
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/tcp_client.hpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/include/vehicle_agent_gateway/tcp_client.hpp
diff --git a/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py
new file mode 100644
index 0000000..b9cadd6
--- /dev/null
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py
@@ -0,0 +1,30 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument("chassis_host", default_value="192.168.1.100"),
+        DeclareLaunchArgument("chassis_port", default_value="9000"),
+        DeclareLaunchArgument("chassis_timeout_ms", default_value="5000"),
+        DeclareLaunchArgument("control_host", default_value="192.168.1.100"),
+        DeclareLaunchArgument("control_port", default_value="9000"),
+        DeclareLaunchArgument("control_timeout_ms", default_value="5000"),
+        Node(
+            package="vehicle_agent_gateway",
+            executable="vehicle_agent_gateway_node",
+            name="vehicle_agent_gateway",
+            output="screen",
+            parameters=[{
+                "chassis_host": LaunchConfiguration("chassis_host"),
+                "chassis_port": ParameterValue(LaunchConfiguration("chassis_port"), value_type=int),
+                "chassis_timeout_ms": ParameterValue(LaunchConfiguration("chassis_timeout_ms"), value_type=int),
+                "control_host": LaunchConfiguration("control_host"),
+                "control_port": ParameterValue(LaunchConfiguration("control_port"), value_type=int),
+                "control_timeout_ms": ParameterValue(LaunchConfiguration("control_timeout_ms"), value_type=int),
+            }],
+        ),
+    ])
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
similarity index 59%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
index c29db14..99458a6 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
@@ -5,6 +5,8 @@
 # 默认监听：
 #   9001 端口 —— 底盘域
 #   9002 端口 —— 运控域
+#   9003 端口 —— 传感器域
+#   9004 端口 —— 外部真值位姿输入
 
 import json
 import socket
@@ -15,7 +17,7 @@ import logging
 
 logging.basicConfig(level=logging.INFO, format="[%(threadName)s] %(message)s")
 
-# 帧类型（与 proto_frame.hpp 保持一致）
+# 帧类型（与 proto_frame.hpp 和 proto/transport_contract.proto 保持一致）
 CHASSIS_GET_READINESS_REQ   = 1
 CHASSIS_GET_READINESS_RSP   = 2
 CHASSIS_MOTION_PRIMITIVE_REQ = 3
@@ -26,6 +28,14 @@ CONTROL_GET_READINESS_REQ   = 11
 CONTROL_GET_READINESS_RSP   = 12
 CONTROL_EVALUATION_REQ      = 13
 CONTROL_EVALUATION_RSP      = 14
+SENSOR_GET_READINESS_REQ    = 21
+SENSOR_GET_READINESS_RSP    = 22
+SENSOR_GET_LATEST_FRAME_REQ = 23
+SENSOR_GET_LATEST_FRAME_RSP = 24
+SENSOR_LIST_SENSORS_REQ     = 25
+SENSOR_LIST_SENSORS_RSP     = 26
+EXTERNAL_POSE_PUSH_REQ      = 31
+EXTERNAL_POSE_PUSH_RSP      = 32
 
 # REQ → RSP 类型映射
 REQ_TO_RSP = {
@@ -34,6 +44,10 @@ REQ_TO_RSP = {
     CHASSIS_EMERGENCY_BRAKE_REQ:  CHASSIS_EMERGENCY_BRAKE_RSP,
     CONTROL_GET_READINESS_REQ:   CONTROL_GET_READINESS_RSP,
     CONTROL_EVALUATION_REQ:      CONTROL_EVALUATION_RSP,
+    SENSOR_GET_READINESS_REQ:    SENSOR_GET_READINESS_RSP,
+    SENSOR_GET_LATEST_FRAME_REQ: SENSOR_GET_LATEST_FRAME_RSP,
+    SENSOR_LIST_SENSORS_REQ:     SENSOR_LIST_SENSORS_RSP,
+    EXTERNAL_POSE_PUSH_REQ:      EXTERNAL_POSE_PUSH_RSP,
 }
 
 
@@ -97,6 +111,11 @@ def _make_payload(req_type: int, req_payload: dict) -> dict:
             "estop_released": True,
             "vehicle_safe_to_move": True,
             "checked_timestamp_us": _ts_us(),
+            "external_pose_feedback_ready": True,
+            "external_pose_source_name": "stub_external_truth",
+            "external_pose_age_ms": 10.0,
+            "external_pose_quality_score": 1.0,
+            "external_pose_transport": "wifi6_stub_tcp",
         }
     elif req_type == CONTROL_EVALUATION_REQ:
         job_id = req_payload.get("header", {}).get("request_id", "stub_job")
@@ -121,6 +140,71 @@ def _make_payload(req_type: int, req_payload: dict) -> dict:
             },
             "artifacts": [],
         }
+    elif req_type == SENSOR_GET_READINESS_REQ:
+        return {
+            "success": True,
+            "error_code": {"code": 1},
+            "message": "Stub: 传感器数据流就绪。",
+            "agent_ready": True,
+            "capture_pipeline_ready": True,
+            "storage_ready": True,
+            "telemetry_ready": True,
+            "vehicle_safe_to_move": True,
+            "arm_ready": True,
+            "ready_sensor_ids": ["demo_front_camera", "demo_down_camera", "demo_lidar_3d", "demo_lidar_2d", "demo_imu"],
+            "issues": [],
+            "checked_timestamp_us": _ts_us(),
+            "sensor_data_stream_ready": True,
+            "streaming_sensor_ids": ["demo_front_camera", "demo_down_camera", "demo_lidar_3d", "demo_lidar_2d", "demo_imu"],
+            "sensor_data_transport": "wifi6_stub_tcp",
+        }
+    elif req_type == SENSOR_LIST_SENSORS_REQ:
+        return {
+            "success": True,
+            "error_code": {"code": 1},
+            "message": "Stub: 传感器列表。",
+            "sensors": [
+                {"sensor_id": "demo_front_camera", "sensor_type": 2, "payload_type": 1, "topic": "/sensor/front_camera/image_raw", "frame_id": "front_camera_link"},
+                {"sensor_id": "demo_down_camera", "sensor_type": 1, "payload_type": 1, "topic": "/sensor/down_camera/image_raw", "frame_id": "down_camera_link"},
+                {"sensor_id": "demo_lidar_3d", "sensor_type": 4, "payload_type": 2, "topic": "/sensor/lidar_3d/pointcloud", "frame_id": "lidar_3d_link"},
+                {"sensor_id": "demo_lidar_2d", "sensor_type": 5, "payload_type": 3, "topic": "/sensor/lidar_2d/scan", "frame_id": "lidar_2d_link"},
+                {"sensor_id": "demo_imu", "sensor_type": 6, "payload_type": 4, "topic": "/sensor/imu/data", "frame_id": "imu_link"},
+            ],
+        }
+    elif req_type == SENSOR_GET_LATEST_FRAME_REQ:
+        sensor_id = req_payload.get("sensor_id", "demo_front_camera")
+        return {
+            "success": True,
+            "error_code": {"code": 1},
+            "message": "Stub: 最新传感器帧。",
+            "sensor_frame": {
+                "header": {
+                    "sensor_id": sensor_id,
+                    "sensor_type": 2,
+                    "frame_id": "front_camera_link",
+                    "hardware_timestamp_us": _ts_us(),
+                    "sequence_id": 1,
+                    "active_job_id": "",
+                    "capture_intent": 0,
+                },
+                "payload_type": 1,
+                "stream_id": f"{sensor_id}:1",
+                "fragment_index": 0,
+                "total_fragments": 1,
+                "is_final_fragment": True,
+                "uncompressed_size_bytes": 0,
+                "payload_digest": "",
+                "image": {"width": 0, "height": 0, "encoding": "stub", "is_bigendian": False, "step": 0, "data": "", "compression": "none"},
+            },
+        }
+    elif req_type == EXTERNAL_POSE_PUSH_REQ:
+        return {
+            "success": True,
+            "error_code": {"code": 1},
+            "message": "Stub: 外部真值位姿已接收。",
+            "accepted_timestamp_us": _ts_us(),
+            "reference_source_name": req_payload.get("reference_source_name", "stub_external_truth"),
+        }
     return {}
 
 
@@ -182,8 +266,16 @@ if __name__ == "__main__":
     t_control = threading.Thread(
         target=start_server, args=(9002, "control"), name="control-srv", daemon=True
     )
+    t_sensor = threading.Thread(
+        target=start_server, args=(9003, "sensor"), name="sensor-srv", daemon=True
+    )
+    t_external_pose = threading.Thread(
+        target=start_server, args=(9004, "external-pose"), name="external-pose-srv", daemon=True
+    )
     t_chassis.start()
     t_control.start()
+    t_sensor.start()
+    t_external_pose.start()
     logging.info("Windows stub server 已启动，按 Ctrl+C 退出。")
     try:
         t_chassis.join()
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/chassis_bridge_node.cpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/chassis_bridge_node.cpp
similarity index 97%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/chassis_bridge_node.cpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/chassis_bridge_node.cpp
index 3160311..b792f8a 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/chassis_bridge_node.cpp
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/chassis_bridge_node.cpp
@@ -16,9 +16,9 @@ using calibration_common_interfaces::msg::JobState;
 ChassisBridgeNode::ChassisBridgeNode(const rclcpp::NodeOptions & options)
 : Node("chassis_bridge_node", options)
 {
-  // 节点参数：Windows 车端 IP 与端口，方便通过 launch 文件或命令行覆盖。
+  // 节点参数：Windows 车端统一 WiFi6 gateway IP 与端口，方便通过 launch 文件或命令行覆盖。
   chassis_host_ = declare_parameter<std::string>("chassis_host", "192.168.1.100");
-  chassis_port_ = static_cast<uint16_t>(declare_parameter<int>("chassis_port", 9001));
+  chassis_port_ = static_cast<uint16_t>(declare_parameter<int>("chassis_port", 9000));
   timeout_ms_   = declare_parameter<int>("chassis_timeout_ms", 5000);
 
   readiness_service_ = create_service<ReadinessSrv>(
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/control_bridge_node.cpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/control_bridge_node.cpp
similarity index 97%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/control_bridge_node.cpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/control_bridge_node.cpp
index 450e8f8..e399d2c 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/control_bridge_node.cpp
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/control_bridge_node.cpp
@@ -17,9 +17,9 @@ using calibration_common_interfaces::msg::JobState;
 ControlBridgeNode::ControlBridgeNode(const rclcpp::NodeOptions & options)
 : Node("control_bridge_node", options)
 {
-  // 节点参数：Windows 车端 IP 与端口，方便通过 launch 文件或命令行覆盖。
+  // 节点参数：Windows 车端统一 WiFi6 gateway IP 与端口，方便通过 launch 文件或命令行覆盖。
   control_host_ = declare_parameter<std::string>("control_host", "192.168.1.100");
-  control_port_ = static_cast<uint16_t>(declare_parameter<int>("control_port", 9002));
+  control_port_ = static_cast<uint16_t>(declare_parameter<int>("control_port", 9000));
   timeout_ms_   = declare_parameter<int>("control_timeout_ms", 5000);
 
   readiness_service_ = create_service<ReadinessSrv>(
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/main.cpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/main.cpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/main.cpp
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/proto_frame.cpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/proto_frame.cpp
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/proto_frame.cpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/proto_frame.cpp
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/tcp_client.cpp b/agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/tcp_client.cpp
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/src/tcp_client.cpp
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/vehicle_agent_gateway/src/tcp_client.cpp
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/CMakeLists.txt b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/CMakeLists.txt
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/CMakeLists.txt
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/images/sequence_diagram.png b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/images/sequence_diagram.png
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/images/sequence_diagram.png
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/images/sequence_diagram.png
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/proto 驱动任务选择图.png b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/proto 驱动任务选择图.png
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/proto 驱动任务选择图.png
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/proto 驱动任务选择图.png
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/传感器标定详细流程图.png b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/传感器标定详细流程图.png
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/传感器标定详细流程图.png
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/传感器标定详细流程图.png
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/底盘标定详细流程图.png b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/底盘标定详细流程图.png
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/底盘标定详细流程图.png
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/底盘标定详细流程图.png
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/自动化标定车间总控完整流程图.png b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/自动化标定车间总控完整流程图.png
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/自动化标定车间总控完整流程图.png
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/自动化标定车间总控完整流程图.png
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/运控参数调优详细流程图.png b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/运控参数调优详细流程图.png
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/docs/运控参数调优详细流程图.png
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/docs/运控参数调优详细流程图.png
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/launch/minimal_workshop_demo.launch.py b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/launch/minimal_workshop_demo.launch.py
similarity index 54%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/launch/minimal_workshop_demo.launch.py
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/launch/minimal_workshop_demo.launch.py
index 5efa949..b01f61f 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/launch/minimal_workshop_demo.launch.py
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/launch/minimal_workshop_demo.launch.py
@@ -8,6 +8,9 @@ from launch_ros.actions import Node
 # 参数：
 #   use_gateway (bool, 默认 false)：true 时用 vehicle_agent_gateway 替换本地底盘/运控 stub 节点。
 #   chassis_host / control_host：Windows 车端 IP（仅 use_gateway=true 时生效）。
+#   profile_storage_path：vehicle_profile_manager 的画像持久化文件。
+#   sensor_storage_root / sensor_registry / capture_pipeline_name / telemetry_topics：
+#       传感器 readiness 的最小真实配置入口。
 def generate_launch_description():
     use_gateway_arg = DeclareLaunchArgument(
         "use_gateway",
@@ -22,11 +25,53 @@ def generate_launch_description():
         "control_host", default_value="192.168.1.100",
         description="Windows 车端 IP（use_gateway=true 时生效）",
     )
+    profile_storage_path_arg = DeclareLaunchArgument(
+        "profile_storage_path",
+        default_value="/tmp/agv_calib_vehicle_profiles.db",
+        description="vehicle_profile_manager 的画像持久化文件路径",
+    )
+    sensor_storage_root_arg = DeclareLaunchArgument(
+        "sensor_storage_root",
+        default_value="/tmp/agv_sensor_calibration",
+        description="sensor_calibration_service 的产物目录",
+    )
+    sensor_registry_arg = DeclareLaunchArgument(
+        "sensor_registry",
+        default_value="demo_front_camera",
+        description="逗号分隔的可用传感器 ID 列表",
+    )
+    capture_pipeline_name_arg = DeclareLaunchArgument(
+        "capture_pipeline_name",
+        default_value="sensor_capture_pipeline",
+        description="传感器采集链路名称",
+    )
+    telemetry_topics_arg = DeclareLaunchArgument(
+        "telemetry_topics",
+        default_value="/sensor_calibration/telemetry",
+        description="逗号分隔的传感器遥测 topic 列表",
+    )
+    vehicle_safe_to_move_arg = DeclareLaunchArgument(
+        "vehicle_safe_to_move",
+        default_value="true",
+        description="传感器任务若需要移动车辆时，当前是否允许移动",
+    )
+    arm_ready_arg = DeclareLaunchArgument(
+        "arm_ready",
+        default_value="true",
+        description="当前机械臂是否就绪",
+    )
 
     def make_nodes(context):
         use_gateway = LaunchConfiguration("use_gateway").perform(context).lower() == "true"
         chassis_host = LaunchConfiguration("chassis_host").perform(context)
         control_host = LaunchConfiguration("control_host").perform(context)
+        profile_storage_path = LaunchConfiguration("profile_storage_path").perform(context)
+        sensor_storage_root = LaunchConfiguration("sensor_storage_root").perform(context)
+        sensor_registry = LaunchConfiguration("sensor_registry").perform(context)
+        capture_pipeline_name = LaunchConfiguration("capture_pipeline_name").perform(context)
+        telemetry_topics = LaunchConfiguration("telemetry_topics").perform(context)
+        vehicle_safe_to_move = LaunchConfiguration("vehicle_safe_to_move").perform(context).lower() == "true"
+        arm_ready = LaunchConfiguration("arm_ready").perform(context).lower() == "true"
 
         common_nodes = [
             Node(
@@ -34,6 +79,9 @@ def generate_launch_description():
                 executable="vehicle_profile_manager_node",
                 name="vehicle_profile_manager",
                 output="screen",
+                parameters=[{
+                    "profile_storage_path": profile_storage_path,
+                }],
             ),
             Node(
                 package="external_localization_service",
@@ -46,6 +94,14 @@ def generate_launch_description():
                 executable="sensor_calibration_service_node",
                 name="sensor_calibration_service",
                 output="screen",
+                parameters=[{
+                    "sensor_storage_root": sensor_storage_root,
+                    "sensor_registry": sensor_registry,
+                    "capture_pipeline_name": capture_pipeline_name,
+                    "telemetry_topics": telemetry_topics,
+                    "vehicle_safe_to_move": vehicle_safe_to_move,
+                    "arm_ready": arm_ready,
+                }],
             ),
             Node(
                 package="workshop_orchestrator_v2",
@@ -56,7 +112,7 @@ def generate_launch_description():
         ]
 
         if use_gateway:
-            # WiFi 网关模式：底盘和运控通过 TCP 转发到 Windows 车端。
+            # WiFi 网关模式：底盘和运控通过统一 TCP 端口转发到 Windows 车端。
             chassis_control_nodes = [
                 Node(
                     package="vehicle_agent_gateway",
@@ -65,10 +121,10 @@ def generate_launch_description():
                     output="screen",
                     parameters=[{
                         "chassis_host": chassis_host,
-                        "chassis_port": 9001,
+                        "chassis_port": 9000,
                         "chassis_timeout_ms": 5000,
                         "control_host": control_host,
-                        "control_port": 9002,
+                        "control_port": 9000,
                         "control_timeout_ms": 5000,
                     }],
                 ),
@@ -96,5 +152,12 @@ def generate_launch_description():
         use_gateway_arg,
         chassis_host_arg,
         control_host_arg,
+        profile_storage_path_arg,
+        sensor_storage_root_arg,
+        sensor_registry_arg,
+        capture_pipeline_name_arg,
+        telemetry_topics_arg,
+        vehicle_safe_to_move_arg,
+        arm_ready_arg,
         OpaqueFunction(function=make_nodes),
     ])
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/package.xml b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/package.xml
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/package.xml
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/package.xml
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/README.md b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/README.md
similarity index 87%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/README.md
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/README.md
index 0999a49..075ad26 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/README.md
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/README.md
@@ -1,10 +1,10 @@
-# 自动化标定车间 Proto 协同工作说明
+# 自动化标定车间协议协同工作说明
 
-[![Protocol](https://img.shields.io/badge/Protocol-Protocol%20Buffers-blue)](https://developers.google.com/protocol-buffers)
-[![Platform](https://img.shields.io/badge/Platform-Ubuntu%20%7C%20Linux%20%7C%20Windows-green)](https://ubuntu.com)
-[![Status](https://img.shields.io/badge/Status-Proto%20Frozen%20Candidate-orange)](./)
+> **核心定位**：面向自动化标定车间的分层协议设计，用 8 个 `.proto` 把“车间总控、车辆画像、真值参考、底盘标定、传感器标定、运控调优、参数归档、WiFi6 传输契约”串成一条可执行、可追溯、可扩展的自动化流程。
 
-> **核心定位**：面向自动化标定车间的分层协议设计，用 7 个 `.proto` 把“车间总控、车辆画像、真值参考、底盘标定、传感器标定、运控调优、参数归档”串成一条可执行、可追溯、可扩展的自动化流程。
+协议格式：Protocol Buffers  
+目标平台：Ubuntu / Linux / Windows  
+当前状态：Proto 冻结候选版
 
 ---
 
@@ -12,10 +12,10 @@
 
 - [1. 文档目的](#1-文档目的)
 - [2. 系统边界与角色分工](#2-系统边界与角色分工)
-- [3. 七个 Proto 文件的职责划分](#3-七个-proto-文件的职责划分)
-- [4. 七个 Proto 的依赖关系](#4-七个-proto-的依赖关系)
+- [3. 八个 Proto 文件的职责划分](#3-八个-proto-文件的职责划分)
+- [4. 八个 Proto 的依赖关系](#4-八个-proto-的依赖关系)
 - [5. 自动化标定车间完整流程](#5-自动化标定车间完整流程)
-- [6. 七个 Proto 在主流程中的协同方式](#6-七个-proto-在主流程中的协同方式)
+- [6. 八个 Proto 在主流程中的协同方式](#6-八个-proto-在主流程中的协同方式)
 - [7. 当前协议设计已经明确的关键原则](#7-当前协议设计已经明确的关键原则)
 - [8. 冻结前建议补齐的小修补项](#8-冻结前建议补齐的小修补项)
 - [9. 从 Proto 到 ROS2 的映射建议](#9-从-proto-到-ros2-的映射建议)
@@ -26,13 +26,13 @@
 
 ## 1. 文档目的
 
-本文档用于说明当前自动化标定车间中 **7 个核心 `.proto` 文件** 的职责边界、依赖关系、协同流程和工程落地方式。
+本文档用于说明当前自动化标定车间中 **8 个核心 `.proto` 文件** 的职责边界、依赖关系、协同流程和工程落地方式。
 
 这套协议不是为了把所有逻辑堆到一个服务里，而是为了把整个系统拆成清晰的几层：
 
 - **车间总控层**：只负责编排、状态推进、审批、回滚、归档
 - **专业域服务层**：分别处理真值参考、底盘、传感器、运控调优
-- **车端代理层**：只负责动作执行、数据采集、参数写入、状态回传
+- **车端代理层**：只负责动作执行、传感器订阅与数据采集、参数写入、状态回传
 - **公共协议层**：统一请求头、错误码、心跳、长任务状态、文件引用、位姿/向量类型
 
 这份 README 的目标是让后续做 ROS2 映射、节点架构设计、C++ 服务实现时，所有人对协议语义有同一个理解。
@@ -74,12 +74,13 @@
 
 - **Linux 负责求解和编排，不负责直接驱动硬件细节**
 - **Windows 负责执行和采集，不负责复杂求解与全局决策**
+- **车端传感器属于车辆侧，图像、点云、LaserScan、IMU 原始帧经 WiFi6 从车端转发到车间电脑**
 - **所有阶段都围绕同一个 `session_id`、`vehicle_id`、`job_id` 协同**
 - **所有长任务都统一使用 `JobAccepted / JobStatus / JobResult` 语义**
 
 ---
 
-## 3. 七个 Proto 文件的职责划分
+## 3. 八个 Proto 文件的职责划分
 
 ### 3.1 calibration_common.proto
 
@@ -96,7 +97,7 @@
 - `HeartbeatRequest / HeartbeatResponse`：统一保活机制
 - `AgentReadinessRequest / ReadinessIssue`：统一 readiness 检查模式
 - `FileDigest / FileReference`：统一文件摘要与文件引用
-- `Vector3D / Vector3d / Pose3D / Pose3dEuler`：统一三维向量与位姿表达
+- `Vector3D / Pose3D`：统一三维向量与位姿表达
 - `KeyValuePair`：为后续扩展保留元数据入口
 
 **一句话理解**：它不描述任何专项算法，但所有专项服务都要先站在这块地基上。
@@ -272,6 +273,8 @@
 - 传感器到 `base_link` 外参任务
 - 手眼标定任务
 - 遥测流
+- 车端传感器原始数据流 `StreamVehicleSensorData`
+- 车间电脑传感器数据接收服务 `AgvCalibWorkshopSensorIngestService`
 - 参数写入与查询
 - 任务结果与验证摘要
 
@@ -279,13 +282,14 @@
 
 - 已支持相机 **只做内参 / 只做外参 / 内外参都做**
 - 已将 IMU 内参改为三轴强约束：
-  - `Vector3d accel_bias`
-  - `Vector3d gyro_bias`
+  - `Vector3D accel_bias`
+  - `Vector3D gyro_bias`
 - 已增加 `LASER_SCAN_FILE`，单独表达 2D 激光雷达产物
+- 已增加 `VehicleSensorFrame`，用于承载相机图像、3D 点云、2D LaserScan、IMU 原始帧，并支持大图像 / 点云分片传输
 - 已增加 `SensorValidationSummary`
 - 已增加 `SensorCalibrationJobResult`
 
-**一句话理解**：它负责把“采什么、怎么采、产出什么参数、怎么判断是否通过”描述完整。
+**一句话理解**：它负责把“采什么、怎么采、原始数据怎么从车端到车间电脑、产出什么参数、怎么判断是否通过”描述完整。
 
 ---
 
@@ -320,7 +324,23 @@
 
 ---
 
-## 4. 七个 Proto 的依赖关系
+### 3.8 transport_contract.proto
+
+**作用：车间工控机与车端电脑之间的 WiFi6/TCP 传输契约。**
+
+它不替代底盘、运控、传感器、外部真值的业务消息，而是固定网络边界上的通道和帧规则：
+
+- `Wifi6Channel`：底盘、运控、传感器、外部真值位姿四个逻辑通道
+- `Wifi6DefaultPort`：WiFi6 边界默认使用统一车端 gateway 端口 9000，9001-9004 只作为仿真内部域端口或旧版兼容
+- `Wifi6FrameType`：当前 TCP 帧号 1-32
+- `Wifi6TcpFrameHeader`：8 字节小端帧头的契约表达
+- `Wifi6PayloadEncoding`：当前 JSON 字段名编码与后续 protobuf binary 编码预留
+
+**一句话理解**：它把“哪些数据通过 WiFi6 怎么走”固定下来，避免 Windows 车端和 Ubuntu 工控机只靠代码常量私下约定。
+
+---
+
+## 4. 八个 Proto 的依赖关系
 
 依赖关系可以概括如下：
 
@@ -333,6 +353,7 @@
 | `control_calibration.proto` | `calibration_common.proto`、`vehicle_profile.proto` | 运控调优执行、遥测、验证、参数写入 |
 | `sensor_calibration.proto` | `calibration_common.proto`、`vehicle_profile.proto` | 传感器任务、采集、参数、验证 |
 | `workshop_orchestration.proto` | `calibration_common.proto`、`vehicle_profile.proto` | 整场会话编排、计划、审批、回滚、报告 |
+| `transport_contract.proto` | 无 | WiFi6/TCP 通道、端口、帧头、帧号、payload 编码 |
 
 总体依赖方向是：
 
@@ -344,6 +365,7 @@ flowchart LR
     A --> E[control_calibration.proto]
     A --> F[sensor_calibration.proto]
     A --> G[workshop_orchestration.proto]
+    H[transport_contract.proto]
     B --> D
     B --> E
     B --> F
@@ -458,7 +480,7 @@ flowchart TB
 
 ---
 
-## 6. 七个 Proto 在主流程中的协同方式
+## 6. 八个 Proto 在主流程中的协同方式
 
 ### 6.1 协同主图
 
@@ -555,7 +577,7 @@ Windows 代理只负责：
 
 ## 8. 冻结前建议补齐的小修补项
 
-当前 7 个 proto 的主结构已经可以冻结，但为了减少后续返工，建议在冻结前补 4 类小修补。
+当前 8 个 proto 的主结构已经可以冻结，但为了减少后续返工，建议在冻结前补 4 类小修补。
 
 ### 8.1 给计划 / 结果 / 报告补统一 `metadata`
 
@@ -620,10 +642,11 @@ message CalibrationReferenceTarget {
 
 - `RequestHeader`
 - `JobStatus`
-- `Pose3dEuler`
+- `Pose3D`
 - `ChassisTelemetry`
 - `ControlTelemetry`
 - `SensorCalibrationTelemetry`
+- `VehicleSensorFrame`
 
 ### 9.2 srv
 
@@ -682,7 +705,8 @@ proto/
 ├── chassis_calibration.proto
 ├── control_calibration.proto
 ├── sensor_calibration.proto
-└── workshop_orchestration.proto
+├── workshop_orchestration.proto
+└── transport_contract.proto
 
 services/
 ├── workshop_orchestrator/
@@ -708,7 +732,7 @@ logs/
 
 建议按下面顺序推进：
 
-1. 先冻结 7 个 proto
+1. 先冻结 8 个 proto
 2. 再设计 ROS2 的 msg / srv / action 对应关系
 3. 再画节点架构图和 topic / service / action 拓扑
 4. 再实现总控状态机
@@ -728,7 +752,7 @@ logs/
 
 ## 11. 总结
 
-当前这套 7 个 proto 已经不再是“概念方案”，而是一套接近可冻结的自动化标定车间协议主干。
+当前这套 8 个 proto 已经不再是“概念方案”，而是一套接近可冻结的自动化标定车间协议主干。
 
 它们共同支撑的不是单个算法模块，而是完整的一条自动化流程：
 
@@ -743,7 +767,8 @@ logs/
 - `control_calibration.proto` 负责横纵向控制器调优执行
 - `sensor_calibration.proto` 负责多传感器采集、求解与参数表达
 - `workshop_orchestration.proto` 负责总流程编排、审批、回滚与归档
+- `transport_contract.proto` 固定 WiFi6/TCP 通道、端口、帧头、帧号和 payload 编码
 
 只要把冻结前的小修补项补齐，这套协议就可以正式进入下一阶段：
 
-**ROS2 接口映射、节点架构设计、C++ 服务实现。**
\ No newline at end of file
+**ROS2 接口映射、节点架构设计、C++ 服务实现。**
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/calibration_common.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/calibration_common.proto
similarity index 99%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/calibration_common.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/calibration_common.proto
index 4d44308..0013f90 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/calibration_common.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/calibration_common.proto
@@ -3,8 +3,8 @@ syntax = "proto3";
 package agv.calibration.common;
 
 // ├── msg/
-// │   ├── Vector3d.msg
-// │   ├── Pose3dEuler.msg
+// │   ├── Vector3D.msg
+// │   ├── Pose3D.msg
 // │   ├── RequestHeader.msg
 // │   ├── ErrorCode.msg
 // │   ├── StandardResponse.msg
@@ -263,4 +263,4 @@ message FileReference {
 message KeyValuePair {
   string key = 1;     // 键
   string value = 2;   // 值
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/chassis_calibration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/chassis_calibration.proto
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/chassis_calibration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/chassis_calibration.proto
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/proto/control_calibration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/control_calibration.proto
similarity index 93%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/proto/control_calibration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/control_calibration.proto
index 61a04c4..307e21b 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/proto/control_calibration.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/control_calibration.proto
@@ -115,6 +115,12 @@ message ControlReadinessResponse {
   bool vehicle_safe_to_move = 9;      // 当前车辆是否允许移动
   repeated .agv.calibration.common.ReadinessIssue issues = 10; // 不满足项
   int64 checked_timestamp_us = 11;    // 检查时间
+
+  bool external_pose_feedback_ready = 12; // 外部真值 / 定位位姿输入是否就绪
+  string external_pose_source_name = 13;  // 当前外部位姿源名称
+  double external_pose_age_ms = 14;       // 最近一帧外部位姿年龄
+  double external_pose_quality_score = 15; // 最近一帧外部位姿质量分数
+  string external_pose_transport = 16;    // 外部位姿传输方式，例如 wifi6
 }
 
 // =========================================================
@@ -249,6 +255,13 @@ message TrajectoryTrackingTask {
   repeated TrajectoryPoint path = 1; // 轨迹点序列
   bool stop_at_end = 2;              // 结束后是否停车
   double timeout_sec = 3;            // 超时时间
+  string required_external_pose_source_id = 4; // 要求使用的外部位姿源 ID
+  double max_external_pose_age_ms = 5;         // 允许最大外部位姿延迟
+  double min_external_pose_quality_score = 6;  // 允许最小外部位姿质量分数
+  string trajectory_id = 7;                    // 轨迹 ID，用于分段下发时关联多段轨迹
+  uint32 segment_index = 8;                    // 当前轨迹段序号，从 0 开始
+  uint32 total_segments = 9;                   // 总段数；0 或 1 表示本请求携带完整轨迹
+  bool is_final_segment = 10;                  // 当前段是否为最后一段，作为 total_segments 的冗余校验
 }
 
 // =========================================================
@@ -353,6 +366,9 @@ message ControlTelemetry {
   string parameter_version = 15;   // 当前生效参数版本
   .agv.calibration.vehicle.profile.ControllerAlgorithmType active_lateral_algorithm = 16; // 当前横向算法
   .agv.calibration.vehicle.profile.ControllerAlgorithmType active_longitudinal_algorithm = 17; // 当前纵向算法
+
+  string pose_source_name = 18;     // 本帧控制使用的位姿源名称
+  bool pose_from_external_truth = 19; // 本帧位姿是否来自外部真值 / 外部定位
 }
 
 // =========================================================
@@ -420,4 +436,4 @@ message ControlJobResult {
   ControlValidationSummary validation_summary = 8; // 验证摘要
   ControllerParameterSet estimated_parameter_set = 9; // 本轮估计参数集
   repeated .agv.calibration.common.FileReference artifacts = 10; // 关联产物
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/proto/external_localization.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/external_localization.proto
similarity index 87%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/proto/external_localization.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/external_localization.proto
index 35749b7..069bb81 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_external_localization_interfaces/proto/external_localization.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/external_localization.proto
@@ -69,6 +69,30 @@ service AgvCalibExternalLocalizationService {
       returns (.agv.calibration.common.StandardResponse);
 }
 
+// =========================================================
+// 服务：外部真值位姿下发服务
+// 运行位置：Ubuntu 车间电脑 / 外部真值系统桥接进程
+// 调用方：Windows 车端代理
+// 传输介质：现场通过 WiFi 6 网络承载
+// 作用：
+// 1) 让车端在执行轨迹跟踪时获得车间坐标系下的实时位姿
+// 2) 与 StreamExternalLocalizationTelemetry 使用同一位姿消息结构
+// 3) 车端不得把底盘里程计当成默认全局位姿源，只可作为降级输入
+// =========================================================
+service AgvCalibExternalPoseFeedService {
+  // 心跳保活，用于车端确认外部真值链路在线
+  rpc Heartbeat(.agv.calibration.common.HeartbeatRequest)
+      returns (.agv.calibration.common.HeartbeatResponse);
+
+  // 车端订阅外部真值位姿流
+  rpc StreamExternalPoseToVehicle(ExternalPoseFeedRequest)
+      returns (stream ExternalLocalizationTelemetry);
+
+  // 可选：外部真值系统主动推送单帧位姿到车端
+  rpc PushExternalPoseToVehicle(ExternalLocalizationTelemetry)
+      returns (.agv.calibration.common.StandardResponse);
+}
+
 // =========================================================
 // 外部定位工作模式请求
 // 作用：切换外部定位桥接服务到不同模式
@@ -238,6 +262,20 @@ message StreamExternalLocalizationTelemetryRequest {
   bool include_tracking_state = 6;                  // 是否包含跟踪状态
 }
 
+// =========================================================
+// 外部真值位姿下发请求
+// 作用：车端通过 WiFi 6 请求工控机 / 外部真值桥接进程提供实时位姿流
+// =========================================================
+message ExternalPoseFeedRequest {
+  .agv.calibration.common.RequestHeader header = 1; // 请求头
+  string vehicle_id = 2;                            // 目标车辆 ID
+  string localization_source_id = 3;                // 外部真值源 ID
+  string workcell_zone_id = 4;                      // 工位 / 区域 ID
+  uint32 expected_hz = 5;                           // 期望下发频率
+  double max_pose_age_ms = 6;                       // 允许最大位姿延迟
+  bool require_quality_metrics = 7;                 // 是否要求质量指标
+}
+
 // =========================================================
 // 外部定位遥测
 // 作用：回传外部定位实时观测结果
@@ -248,7 +286,7 @@ message ExternalLocalizationTelemetry {
   int64 hardware_timestamp_us = 1; // 硬件时间戳
   bool pose_valid = 2;             // 位姿是否有效
 
-  .agv.calibration.common.Pose3dEuler workshop_pose = 3; // 在车间参考系下的位姿
+  .agv.calibration.common.Pose3D workshop_pose = 3; // 在车间参考系下的位姿
 
   double position_stddev_m = 4;    // 位置标准差
   double yaw_stddev_rad = 5;       // 航向标准差
@@ -269,7 +307,7 @@ message ExternalLocalizationCalibrationResult {
   string workshop_frame_id = 1; // 车间参考坐标系 ID
   string localization_frame_id = 2; // 外部定位坐标系 ID
 
-  .agv.calibration.common.Pose3dEuler workshop_to_localization = 3; // 车间系到定位系的位姿
+  .agv.calibration.common.Pose3D workshop_to_localization = 3; // 车间系到定位系的位姿
 
   double position_repeatability_m = 4; // 位置重复性
   double yaw_repeatability_rad = 5;    // 航向重复性
@@ -334,4 +372,4 @@ message ExternalLocalizationJobResult {
   ExternalLocalizationValidationSummary validation_summary = 9; // 真值参考验证摘要
   ExternalLocalizationCalibrationResult result = 10; // 结果内容
   repeated .agv.calibration.common.FileReference artifacts = 11; // 关联产物
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/proto/sensor_calibration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/sensor_calibration.proto
similarity index 70%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/proto/sensor_calibration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/sensor_calibration.proto
index 38d0096..a121b55 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_sensor_interfaces/proto/sensor_calibration.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/sensor_calibration.proto
@@ -11,7 +11,7 @@ import "vehicle_profile.proto";
 // Ubuntu 车间电脑(Linux) -> Windows 车端代理 / 采集服务
 // 说明：
 // 1) Linux 负责图像 / 点云 / 激光扫描 / IMU 数据分析与参数求解
-// 2) 车端 / 采集服务只负责组织采集、回传观测状态、写入结果
+// 2) 车端 / 采集服务负责订阅车端传感器、组织采集、回传原始数据和观测状态、写入结果
 // 3) 支持相机内参、IMU 内参、传感器外参、手眼标定
 // 4) 支持相机“只做内参 / 只做外参 / 内外参都做”
 // =========================================================
@@ -58,6 +58,10 @@ service AgvCalibSensorService {
   rpc StreamSensorCalibrationTelemetry(StreamSensorCalibrationTelemetryRequest)
       returns (stream SensorCalibrationTelemetry);
 
+  // 打开车端传感器原始数据流；用于 WiFi6 把车载相机、雷达、IMU 数据传给车间电脑
+  rpc StreamVehicleSensorData(StreamVehicleSensorDataRequest)
+      returns (stream VehicleSensorFrame);
+
   // 写入传感器标定参数
   rpc CommitSensorCalibrationParameters(CommitSensorCalibrationParametersRequest)
       returns (.agv.calibration.common.StandardResponse);
@@ -71,6 +75,22 @@ service AgvCalibSensorService {
       returns (.agv.calibration.common.StandardResponse);
 }
 
+// =========================================================
+// 服务：车间电脑传感器数据接收服务
+// 运行位置：Ubuntu 车间电脑
+// 调用方：Windows 车端代理 / 仿真车端代理
+// 说明：
+// 1) 当现场网络策略采用车端主动上报时使用
+// 2) 与 StreamVehicleSensorData 使用同一帧结构
+// =========================================================
+service AgvCalibWorkshopSensorIngestService {
+  rpc Heartbeat(.agv.calibration.common.HeartbeatRequest)
+      returns (.agv.calibration.common.HeartbeatResponse);
+
+  rpc PushVehicleSensorFrame(VehicleSensorFrame)
+      returns (.agv.calibration.common.StandardResponse);
+}
+
 // =========================================================
 // 传感器标定工作模式
 // 作用：切换采集服务到不同模式
@@ -109,6 +129,10 @@ message SensorReadinessResponse {
   repeated string ready_sensor_ids = 10; // 已就绪的传感器 ID
   repeated .agv.calibration.common.ReadinessIssue issues = 11; // 不满足项
   int64 checked_timestamp_us = 12;      // 检查时间
+
+  bool sensor_data_stream_ready = 13;   // 车端原始传感器数据流是否就绪
+  repeated string streaming_sensor_ids = 14; // 当前可被转发到车间电脑的传感器 ID
+  string sensor_data_transport = 15;    // 传输方式，例如 wifi6 / wifi6_sim_tcp
 }
 
 // =========================================================
@@ -137,6 +161,9 @@ message SensorCalibrationCapabilityResponse {
   bool supports_2d_lidar_extrinsic = 9;       // 是否支持 2D 激光雷达外参
   bool supports_camera_only_intrinsic = 10;   // 是否支持仅做相机内参
   bool supports_camera_only_extrinsic = 11;   // 是否支持仅做相机外参
+  bool supports_vehicle_sensor_data_stream = 12; // 是否支持车端原始传感器数据流
+  bool supports_sensor_frame_chunking = 13;      // 是否支持大帧分片传输
+  bool supports_compressed_image_stream = 14;    // 是否支持压缩图像流
 }
 
 // =========================================================
@@ -238,8 +265,8 @@ enum SensorCalibrationTaskSubtype {
   IMU_EXTRINSIC = 6;
   LIDAR_2D_EXTRINSIC = 7;
   LIDAR_3D_EXTRINSIC = 8;
-  EYE_IN_HAND = 9;
-  EYE_TO_HAND = 10;
+  HAND_EYE_IN_HAND = 9;
+  HAND_EYE_TO_HAND = 10;
 }
 
 // =========================================================
@@ -300,6 +327,161 @@ message SensorCalibrationTelemetry {
   CaptureIntentType capture_intent = 9; // 当前采集意图
 }
 
+// =========================================================
+// 车端传感器原始数据流请求
+// 作用：车间电脑指定要接收哪些车端传感器数据
+// =========================================================
+message StreamVehicleSensorDataRequest {
+  .agv.calibration.common.RequestHeader header = 1; // 请求头
+  repeated string sensor_ids = 2;                   // 要接收的传感器 ID；为空表示由任务决定
+  repeated .agv.calibration.vehicle.profile.SensorType sensor_types = 3; // 要接收的传感器类型
+  uint32 expected_hz = 4;                           // 期望上报频率，0 表示车端默认
+  uint32 max_frame_payload_bytes = 5;               // 单个分片最大 payload，0 表示车端默认
+  bool allow_compressed = 6;                        // 是否允许压缩图像 / 点云
+  bool include_camera_info = 7;                     // 是否随图像携带相机内参初值
+  CaptureIntentType capture_intent = 8;             // 数据采集意图
+  string active_job_id = 9;                         // 关联的标定任务 ID
+}
+
+// =========================================================
+// 传感器原始帧负载类型
+// =========================================================
+enum SensorFramePayloadType {
+  SENSOR_FRAME_PAYLOAD_TYPE_UNSPECIFIED = 0;
+  IMAGE_FRAME = 1;        // 相机图像
+  POINT_CLOUD_FRAME = 2;  // 3D 激光雷达点云
+  LASER_SCAN_FRAME = 3;   // 2D 激光雷达扫描
+  IMU_FRAME = 4;          // IMU 数据
+  CAMERA_INFO_FRAME = 5;  // 相机内参 / camera_info
+  RAW_BYTES_FRAME = 6;    // 预留给厂商私有二进制格式
+}
+
+// =========================================================
+// 传感器原始帧公共头
+// =========================================================
+message VehicleSensorFrameHeader {
+  string sensor_id = 1;    // 传感器 ID，例如 demo_front_camera
+  .agv.calibration.vehicle.profile.SensorType sensor_type = 2; // 传感器类型
+  string frame_id = 3;     // ROS / 车端坐标系 frame_id
+  int64 hardware_timestamp_us = 4; // 硬件时间戳
+  uint64 sequence_id = 5;  // 单传感器递增帧号
+  string active_job_id = 6; // 关联任务 ID
+  CaptureIntentType capture_intent = 7; // 采集意图
+}
+
+// =========================================================
+// 图像帧
+// 对齐 ROS sensor_msgs/Image 的核心字段
+// =========================================================
+message VehicleImageFrame {
+  uint32 width = 1;        // 图像宽度
+  uint32 height = 2;       // 图像高度
+  string encoding = 3;     // 例如 rgb8 / bgr8 / mono8 / jpeg / png
+  bool is_bigendian = 4;   // 字节序
+  uint32 step = 5;         // 每行字节数
+  bytes data = 6;          // 图像数据或分片数据
+  string compression = 7;  // none / jpeg / png
+  CameraIntrinsics camera_intrinsics_hint = 8; // 可选内参初值或当前参数
+}
+
+// =========================================================
+// PointCloud2 字段描述
+// =========================================================
+enum PointCloudFieldDataType {
+  POINT_CLOUD_FIELD_DATA_TYPE_UNSPECIFIED = 0;
+  POINT_CLOUD_FIELD_INT8 = 1;
+  POINT_CLOUD_FIELD_UINT8 = 2;
+  POINT_CLOUD_FIELD_INT16 = 3;
+  POINT_CLOUD_FIELD_UINT16 = 4;
+  POINT_CLOUD_FIELD_INT32 = 5;
+  POINT_CLOUD_FIELD_UINT32 = 6;
+  POINT_CLOUD_FIELD_FLOAT32 = 7;
+  POINT_CLOUD_FIELD_FLOAT64 = 8;
+}
+
+message PointCloudField {
+  string name = 1;                    // 字段名，例如 x / y / z / intensity
+  uint32 offset = 2;                   // 字节偏移
+  PointCloudFieldDataType datatype = 3; // 数据类型
+  uint32 count = 4;                    // 元素数量
+}
+
+// =========================================================
+// 3D 点云帧
+// 对齐 ROS sensor_msgs/PointCloud2 的核心字段
+// =========================================================
+message VehiclePointCloudFrame {
+  uint32 height = 1;
+  uint32 width = 2;
+  repeated PointCloudField fields = 3;
+  bool is_bigendian = 4;
+  uint32 point_step = 5;
+  uint32 row_step = 6;
+  bytes data = 7;        // 点云数据或分片数据
+  bool is_dense = 8;
+  string compression = 9; // none / zstd / lz4 / vendor
+}
+
+// =========================================================
+// 2D 激光雷达扫描帧
+// 对齐 ROS sensor_msgs/LaserScan 的核心字段
+// =========================================================
+message VehicleLaserScanFrame {
+  double angle_min_rad = 1;
+  double angle_max_rad = 2;
+  double angle_increment_rad = 3;
+  double time_increment_sec = 4;
+  double scan_time_sec = 5;
+  double range_min_m = 6;
+  double range_max_m = 7;
+  repeated float ranges_m = 8;
+  repeated float intensities = 9;
+}
+
+// =========================================================
+// IMU 帧
+// 对齐 ROS sensor_msgs/Imu 的核心字段
+// =========================================================
+message VehicleImuFrame {
+  double orientation_x = 1;
+  double orientation_y = 2;
+  double orientation_z = 3;
+  double orientation_w = 4;
+  repeated double orientation_covariance = 5;
+  .agv.calibration.common.Vector3D angular_velocity = 6;
+  repeated double angular_velocity_covariance = 7;
+  .agv.calibration.common.Vector3D linear_acceleration = 8;
+  repeated double linear_acceleration_covariance = 9;
+}
+
+// =========================================================
+// 车端传感器原始帧
+// 作用：通过 WiFi6 在车端和车间电脑之间传输相机 / 雷达 / IMU 数据
+// 说明：
+// 1) fragment_index / total_fragments 用于大图像或点云分片
+// 2) total_fragments 为 0 或 1 表示本消息携带完整帧
+// 3) oneof 中的数据字段可携带完整数据，也可携带当前分片数据
+// =========================================================
+message VehicleSensorFrame {
+  VehicleSensorFrameHeader header = 1;  // 公共帧头
+  SensorFramePayloadType payload_type = 2; // 负载类型
+  string stream_id = 3;                 // 数据流 ID
+  uint32 fragment_index = 4;            // 当前分片序号，从 0 开始
+  uint32 total_fragments = 5;           // 总分片数；0 或 1 表示完整帧
+  bool is_final_fragment = 6;           // 当前是否最后一个分片
+  uint32 uncompressed_size_bytes = 7;   // 解压后总大小，用于校验
+  string payload_digest = 8;            // 完整帧摘要，例如 sha256:...
+
+  oneof payload {
+    VehicleImageFrame image = 20;
+    VehiclePointCloudFrame point_cloud = 21;
+    VehicleLaserScanFrame laser_scan = 22;
+    VehicleImuFrame imu = 23;
+    CameraIntrinsics camera_info = 24;
+    bytes raw_payload = 25;
+  }
+}
+
 // =========================================================
 // 相机模型类型
 // 作用：表达相机内参使用的模型
@@ -335,8 +517,8 @@ message CameraIntrinsics {
 // 3) 采用强约束三维向量，不再使用 repeated double
 // =========================================================
 message IMUIntrinsics {
-  .agv.calibration.common.Vector3d accel_bias = 1; // 加速度计偏置
-  .agv.calibration.common.Vector3d gyro_bias = 2;  // 陀螺仪偏置
+  .agv.calibration.common.Vector3D accel_bias = 1; // 加速度计偏置
+  .agv.calibration.common.Vector3D gyro_bias = 2;  // 陀螺仪偏置
 }
 
 // =========================================================
@@ -347,7 +529,7 @@ message IMUIntrinsics {
 message SensorExtrinsics {
   string parent_frame_id = 1;                      // 父坐标系，一般为 base_link
   string child_frame_id = 2;                       // 子坐标系，一般为 sensor frame
-  .agv.calibration.common.Pose3dEuler parent_to_child = 3; // 父到子的位姿
+  .agv.calibration.common.Pose3D parent_to_child = 3; // 父到子的位姿
 }
 
 // =========================================================
@@ -461,4 +643,4 @@ message SensorCalibrationJobResult {
   SensorValidationSummary validation_summary = 8; // 验证摘要
   SensorCalibrationParameterSet estimated_params = 9; // 本轮估计参数
   repeated CalibrationArtifact artifacts = 10;    // 关联产物
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/transport_contract.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/transport_contract.proto
new file mode 100644
index 0000000..8cb6376
--- /dev/null
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/transport_contract.proto
@@ -0,0 +1,146 @@
+syntax = "proto3";
+
+package agv.calibration.transport;
+
+// =========================================================
+// 文件作用：WiFi6/TCP 传输契约
+// 使用范围：
+// 1) Ubuntu 车间工控机与 Windows 车端代理之间的网络边界
+// 2) 仿真车端 agent 与真实车端 agent 需要共同遵守的帧号和通道约定
+// 3) 业务消息仍由 chassis/control/sensor/external_localization proto 定义
+// 说明：
+// 1) WiFi6 是承载网络，当前工程传输层使用 TCP 长/短连接
+// 2) 当前仿真实现 payload 使用 proto 字段名风格的 JSON
+// 3) 现场可切换为 protobuf binary，但必须保持本文件中的通道和帧号不变
+// =========================================================
+
+// =========================================================
+// WiFi6 逻辑通道
+// =========================================================
+enum Wifi6Channel {
+  WIFI6_CHANNEL_UNSPECIFIED = 0;
+  WIFI6_CHANNEL_CHASSIS = 1;        // 底盘标定动作和急停
+  WIFI6_CHANNEL_CONTROL = 2;        // 运控参数评估、轨迹跟踪
+  WIFI6_CHANNEL_SENSOR = 3;         // 车端传感器原始数据
+  WIFI6_CHANNEL_EXTERNAL_POSE = 4;  // 外部真值位姿输入到车端
+}
+
+// =========================================================
+// 默认端口
+// 说明：
+// 1) WiFi6 边界默认只暴露一个车端 gateway 端口
+// 2) channel 只是协议里的逻辑通道，不应该被理解成“一类功能一个物理端口”
+// 3) 9001-9004 仅保留给仿真 router 背后的内部域服务或旧版兼容使用
+// =========================================================
+enum Wifi6DefaultPort {
+  WIFI6_DEFAULT_PORT_UNSPECIFIED = 0;
+  WIFI6_DEFAULT_PORT_VEHICLE_GATEWAY = 9000;
+  WIFI6_LEGACY_INTERNAL_PORT_CHASSIS = 9001;
+  WIFI6_LEGACY_INTERNAL_PORT_CONTROL = 9002;
+  WIFI6_LEGACY_INTERNAL_PORT_SENSOR = 9003;
+  WIFI6_LEGACY_INTERNAL_PORT_EXTERNAL_POSE = 9004;
+}
+
+// =========================================================
+// TCP 载荷编码方式
+// =========================================================
+enum Wifi6PayloadEncoding {
+  WIFI6_PAYLOAD_ENCODING_UNSPECIFIED = 0;
+  WIFI6_PAYLOAD_ENCODING_JSON_PROTO_FIELD_NAMES = 1; // 当前仿真实现：JSON key 使用 proto 字段名
+  WIFI6_PAYLOAD_ENCODING_PROTOBUF_BINARY = 2;        // 现场高性能实现可选
+}
+
+// =========================================================
+// TCP 连接方向
+// =========================================================
+enum Wifi6FrameDirection {
+  WIFI6_FRAME_DIRECTION_UNSPECIFIED = 0;
+  WIFI6_FRAME_DIRECTION_WORKSHOP_TO_VEHICLE = 1;
+  WIFI6_FRAME_DIRECTION_VEHICLE_TO_WORKSHOP = 2;
+}
+
+// =========================================================
+// TCP 帧号
+// 帧头格式固定为：
+//   uint32 little-endian msg_type
+//   uint32 little-endian payload_len
+//   payload_len bytes payload
+// 注意：
+// 1) 这个 8 字节帧头不是 protobuf 序列化结果，而是传输层二进制头
+// 2) payload 的业务结构由本字段注释中对应的 proto 消息定义
+// 3) 逻辑 channel 由 msg_type 映射得到；同一个 gateway 端口根据 msg_type 做路由
+// =========================================================
+enum Wifi6FrameType {
+  WIFI6_FRAME_TYPE_UNSPECIFIED = 0;
+
+  // 底盘域：chassis_calibration.proto / AgvCalibChassisService
+  WIFI6_FRAME_CHASSIS_GET_READINESS_REQ = 1;     // AgentReadinessRequest
+  WIFI6_FRAME_CHASSIS_GET_READINESS_RSP = 2;     // ChassisReadinessResponse
+  WIFI6_FRAME_CHASSIS_MOTION_PRIMITIVE_REQ = 3;  // MotionPrimitiveRequest
+  WIFI6_FRAME_CHASSIS_MOTION_PRIMITIVE_RSP = 4;  // ChassisJobResult
+  WIFI6_FRAME_CHASSIS_EMERGENCY_BRAKE_REQ = 5;   // Empty 或 EmergencyBrake 请求
+  WIFI6_FRAME_CHASSIS_EMERGENCY_BRAKE_RSP = 6;   // StandardResponse
+
+  // 运控域：control_calibration.proto / AgvCalibControlService
+  WIFI6_FRAME_CONTROL_GET_READINESS_REQ = 11;  // AgentReadinessRequest
+  WIFI6_FRAME_CONTROL_GET_READINESS_RSP = 12;  // ControlReadinessResponse
+  WIFI6_FRAME_CONTROL_EVALUATION_REQ = 13;     // ControllerEvaluationRequest
+  WIFI6_FRAME_CONTROL_EVALUATION_RSP = 14;     // ControlJobResult
+
+  // 传感器域：sensor_calibration.proto / AgvCalibSensorService
+  WIFI6_FRAME_SENSOR_GET_READINESS_REQ = 21;    // AgentReadinessRequest
+  WIFI6_FRAME_SENSOR_GET_READINESS_RSP = 22;    // SensorReadinessResponse
+  WIFI6_FRAME_SENSOR_GET_LATEST_FRAME_REQ = 23; // StreamVehicleSensorDataRequest 的轻量轮询形态
+  WIFI6_FRAME_SENSOR_GET_LATEST_FRAME_RSP = 24; // VehicleSensorFrame
+  WIFI6_FRAME_SENSOR_LIST_SENSORS_REQ = 25;     // Empty 或能力查询请求
+  WIFI6_FRAME_SENSOR_LIST_SENSORS_RSP = 26;     // Sensor 列表响应
+
+  // 外部真值位姿域：external_localization.proto / AgvCalibExternalPoseFeedService
+  WIFI6_FRAME_EXTERNAL_POSE_PUSH_REQ = 31; // ExternalLocalizationTelemetry
+  WIFI6_FRAME_EXTERNAL_POSE_PUSH_RSP = 32; // StandardResponse
+}
+
+// =========================================================
+// TCP 帧头的 protobuf 表达
+// 说明：
+// 1) 这个 message 仅用于文档、测试、代码生成时表达契约
+// 2) 实际线上帧头仍是上面注释中定义的 8 字节小端二进制结构
+// =========================================================
+message Wifi6TcpFrameHeader {
+  Wifi6FrameType msg_type = 1; // 对应 8 字节帧头中的 uint32 msg_type
+  uint32 payload_len = 2;      // 对应 8 字节帧头中的 uint32 payload_len
+}
+
+// =========================================================
+// 逻辑通道端点
+// =========================================================
+message Wifi6ChannelEndpoint {
+  Wifi6Channel channel = 1;
+  Wifi6DefaultPort default_port = 2;
+  Wifi6FrameDirection request_direction = 3;
+  string canonical_proto_file = 4; // 例如 chassis_calibration.proto
+  string canonical_service = 5;    // 例如 AgvCalibChassisService
+}
+
+// =========================================================
+// 请求 / 响应帧映射
+// =========================================================
+message Wifi6FrameMapping {
+  Wifi6Channel channel = 1;
+  Wifi6FrameType request_type = 2;
+  Wifi6FrameType response_type = 3;
+  Wifi6PayloadEncoding payload_encoding = 4;
+  string request_message = 5;  // proto 消息名
+  string response_message = 6; // proto 消息名
+  string rpc_name = 7;         // 对齐的 RPC 名称；轻量轮询可为空
+}
+
+// =========================================================
+// 当前工程默认契约版本
+// =========================================================
+message Wifi6TransportContract {
+  string contract_version = 1; // 当前为 "wifi6_tcp_v1"
+  Wifi6PayloadEncoding default_payload_encoding = 2;
+  repeated Wifi6ChannelEndpoint endpoints = 3;
+  repeated Wifi6FrameMapping frame_mappings = 4;
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/proto/vehicle_profile.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/vehicle_profile.proto
similarity index 99%
rename from agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/proto/vehicle_profile.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/vehicle_profile.proto
index 678fccd..a396702 100644
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_vehicle_profile_interfaces/proto/vehicle_profile.proto
+++ b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/vehicle_profile.proto
@@ -352,4 +352,4 @@ message VehicleCalibrationApplicabilityResponse {
   repeated ApplicabilityIssue issues = 5;            // 问题列表
   bool overall_supported = 6;                        // 是否总体可开展标定
   repeated WorkflowStageType recommended_workflow_stages = 7; // 推荐执行阶段
-}
\ No newline at end of file
+}
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/workshop_orchestration.proto b/agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/workshop_orchestration.proto
similarity index 100%
rename from agv_calib_brain/src/win_ubuntu_bridge/win_ubuntu_bridge/proto/workshop_orchestration.proto
rename to agv_calib_brain/src/communication/win_ubuntu_bridge/win_ubuntu_bridge/proto/workshop_orchestration.proto
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/CMakeLists.txt b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/CMakeLists.txt
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/CMakeLists.txt
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithm_template.hpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithm_template.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithm_template.hpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithm_template.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithms.hpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithms.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithms.hpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_algorithms.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_common.hpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_common.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_common.hpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_common.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_service_node.hpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_service_node.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_service_node.hpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/include/chassis_calibration_service/chassis_calibration_service_node.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/launch/chassis_calibration_service_component.launch.py b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/launch/chassis_calibration_service_component.launch.py
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/launch/chassis_calibration_service_component.launch.py
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/launch/chassis_calibration_service_component.launch.py
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/package.xml b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/package.xml
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/package.xml
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/package.xml
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/ackermann_chassis_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/ackermann_chassis_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/ackermann_chassis_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/ackermann_chassis_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithm_template.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithm_template.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithm_template.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithm_template.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithms.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithms.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithms.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/chassis_calibration_algorithms.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/chassis_calibration_service_node.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/chassis_calibration_service_node.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/chassis_calibration_service_node.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/chassis_calibration_service_node.cpp
diff --git a/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp
new file mode 100644
index 0000000..e8742d8
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/differential_chassis_algorithm.cpp
@@ -0,0 +1,76 @@
+#include "chassis_calibration_service/chassis_calibration_common.hpp"
+
+#include "calibration_chassis_interfaces/msg/chassis_specific_params_type.hpp"
+
+namespace chassis_calibration_service
+{
+
+bool DifferentialChassisAlgorithm::run(
+  const ChassisCalibrationInput & input,
+  ChassisCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  // 差速底盘标定逻辑（轮径与轴距标定模拟）：
+  // 1. 检查底盘反馈数据
+  if (input.chassis_telemetry_history.empty()) {
+    failure_reason = "没有底盘遥测数据，无法标定轮径。";
+    return false;
+  }
+
+  // 2. 标定求解（模拟）：
+  // 基于外部定位计算的真实里程与编码器累计里程的比值，计算修正后的轮径
+  double encoder_distance = 0.0;
+  double truth_distance = 0.0;
+  size_t valid_points = 0;
+
+  for (const auto & s : input.chassis_telemetry_history) {
+    if (s.linear_velocity_ms > 0.1) {
+      encoder_distance += s.linear_velocity_ms * 0.01; // 假设采样周期 10ms
+      valid_points++;
+    }
+  }
+
+  if (valid_points < 100) {
+    failure_reason = "运动数据点过少 (当前: " + std::to_string(valid_points) + ")，无法标定轮径。";
+    return false;
+  }
+
+  // 假设外部真值测得的距离比编码器测得的短 2% (说明标称轮径偏大)
+  truth_distance = encoder_distance * 0.98;
+
+  // 3. 填充结果
+  fill_common_result(input, output);
+
+  auto & res = output.response.result;
+  res.message = "差速底盘标定成功，已计算轮径修正系数。";
+  res.recommended_parameter_version = "diff_chassis_v1.1";
+
+  auto & params = res.estimated_params;
+  params.chassis_type.value = calibration_vehicle_profile_interfaces::msg::ChassisType::DIFFERENTIAL;
+  params.selected_specific_params.value =
+    calibration_chassis_interfaces::msg::ChassisSpecificParamsType::DIFFERENTIAL;
+  params.common.has_longitudinal_scale = true;
+  params.common.longitudinal_scale = truth_distance / encoder_distance;
+  params.common.has_effective_track_width_m = true;
+  params.common.effective_track_width_m = 0.65;
+  params.differential.has_left_wheel_radius_m = true;
+  params.differential.left_wheel_radius_m = 0.125 * 0.98;  // 原始 125mm
+  params.differential.has_right_wheel_radius_m = true;
+  params.differential.right_wheel_radius_m = 0.125 * 0.98;
+  params.differential.has_axle_track_width_m = true;
+  params.differential.axle_track_width_m = 0.65;           // 轮距保持标称值
+
+  // 4. 评估标定质量
+  res.validation_summary.max_lateral_error_m = 0.015;
+  res.validation_summary.max_yaw_error_rad = 0.005;
+  res.validation_summary.rms_lateral_error_m = 0.005;
+  res.validation_summary.rms_yaw_error_rad = 0.002;
+  res.validation_summary.repeatability_error_m = 0.005;
+  res.validation_summary.curvature_error = 0.0;
+  res.validation_summary.module_consistency_error = 0.0;
+  res.validation_summary.auto_acceptance_passed = true;
+
+  return true;
+}
+
+}  // namespace chassis_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/main.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/main.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/main.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/multi_steer_wheel_chassis_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/multi_steer_wheel_chassis_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/multi_steer_wheel_chassis_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/multi_steer_wheel_chassis_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/single_steer_wheel_chassis_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/single_steer_wheel_chassis_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/chassis_calibration_service/src/single_steer_wheel_chassis_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/chassis_calibration_service/src/single_steer_wheel_chassis_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/CMakeLists.txt b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/CMakeLists.txt
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/CMakeLists.txt
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithm_template.hpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithm_template.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithm_template.hpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithm_template.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithms.hpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithms.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithms.hpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_algorithms.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_common.hpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_common.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_common.hpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_common.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_service_node.hpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_service_node.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_service_node.hpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/include/control_calibration_service/control_calibration_service_node.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/launch/control_calibration_service_component.launch.py b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/launch/control_calibration_service_component.launch.py
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/launch/control_calibration_service_component.launch.py
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/launch/control_calibration_service_component.launch.py
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/package.xml b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/package.xml
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/package.xml
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/package.xml
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/control_calibration_algorithm_template.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/control_calibration_algorithm_template.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/src/control_calibration_algorithm_template.cpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/control_calibration_algorithm_template.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/control_calibration_service_node.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/control_calibration_service_node.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/src/control_calibration_service_node.cpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/control_calibration_service_node.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/lqr_control_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/lqr_control_calibration_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/src/lqr_control_calibration_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/lqr_control_calibration_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/main.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/src/main.cpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/main.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/mpc_control_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/mpc_control_calibration_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/src/mpc_control_calibration_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/mpc_control_calibration_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/control_calibration_service/src/pid_control_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/pid_control_calibration_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/control_calibration_service/src/pid_control_calibration_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/pid_control_calibration_algorithm.cpp
diff --git a/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp
new file mode 100644
index 0000000..eceb509
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/control_calibration_service/src/pure_pursuit_control_calibration_algorithm.cpp
@@ -0,0 +1,92 @@
+#include "control_calibration_service/control_calibration_common.hpp"
+
+#include <cmath>
+
+#include "calibration_control_interfaces/msg/controller_parameter_kind.hpp"
+#include "calibration_control_interfaces/msg/controller_parameter_pack.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/control_axis_type.hpp"
+
+namespace control_calibration_service
+{
+
+bool PurePursuitControlCalibrationAlgorithm::run(
+  const ControlCalibrationInput & input,
+  ControlCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  // Pure Pursuit 控制标定逻辑（模拟）：
+  // 1. 检查控制反馈数据
+  if (input.control_telemetry_history.empty()) {
+    failure_reason = "没有控制遥测数据，无法评估控制效果。";
+    return false;
+  }
+
+  // 2. 统计评估（模拟）：
+  // 对历史观测中的横向误差进行均方根（RMS）统计
+  double sum_sq_lat_err = 0.0;
+  double sum_sq_heading_err = 0.0;
+  double sum_sq_speed_err = 0.0;
+  size_t saturation_points = 0;
+  size_t valid_points = 0;
+
+  for (const auto & s : input.control_telemetry_history) {
+    if (s.active_job_id.empty()) {
+      continue;
+    }
+    sum_sq_lat_err += (s.lateral_error_m * s.lateral_error_m);
+    sum_sq_heading_err += (s.heading_error_rad * s.heading_error_rad);
+    sum_sq_speed_err += (s.speed_error_ms * s.speed_error_ms);
+    if (s.saturation_flag) {
+      saturation_points++;
+    }
+    valid_points++;
+  }
+
+  if (valid_points < 50) {
+    failure_reason = "有效跟踪点过少 (当前: " + std::to_string(valid_points) + ")，无法评估控制质量。";
+    return false;
+  }
+
+  const double inv_points = 1.0 / static_cast<double>(valid_points);
+  const double rms_lat_err = std::sqrt(sum_sq_lat_err * inv_points);
+  const double rms_heading_err = std::sqrt(sum_sq_heading_err * inv_points);
+  const double rms_speed_err = std::sqrt(sum_sq_speed_err * inv_points);
+
+  // 3. 填充结果
+  fill_common_result(input, output);
+
+  auto & res = output.response.result;
+  res.message = "Pure Pursuit 控制标定/评估完成。";
+  res.recommended_parameter_version = "pp_params_v2.0";
+
+  calibration_control_interfaces::msg::ControllerParameterPack params;
+  params.control_axis.value =
+    calibration_vehicle_profile_interfaces::msg::ControlAxisType::LATERAL_CONTROL;
+  params.algorithm_type.value =
+    calibration_vehicle_profile_interfaces::msg::ControllerAlgorithmType::PURE_PURSUIT;
+  params.selected_params.value =
+    calibration_control_interfaces::msg::ControllerParameterKind::PURE_PURSUIT;
+  params.pure_pursuit.lookahead_m = 1.2;
+  params.pure_pursuit.has_min_lookahead_m = true;
+  params.pure_pursuit.min_lookahead_m = 0.5;
+  params.pure_pursuit.has_max_lookahead_m = true;
+  params.pure_pursuit.max_lookahead_m = 2.5;
+  params.pure_pursuit.has_curvature_gain = true;
+  params.pure_pursuit.curvature_gain = 1.0;
+  params.pure_pursuit.has_steering_limit_deg = true;
+  params.pure_pursuit.steering_limit_deg = 32.0;
+  res.estimated_parameter_set.items.clear();
+  res.estimated_parameter_set.items.push_back(params);
+
+  // 4. 评估控制质量
+  res.validation_summary.rms_lateral_error_m = rms_lat_err;
+  res.validation_summary.rms_heading_error_rad = rms_heading_err;
+  res.validation_summary.rms_speed_error_ms = rms_speed_err;
+  res.validation_summary.saturation_ratio =
+    static_cast<double>(saturation_points) / static_cast<double>(valid_points);
+  res.validation_summary.auto_acceptance_passed = (rms_lat_err < 0.05); // 示例验收标准：5cm RMS
+
+  return true;
+}
+
+}  // namespace control_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/CMakeLists.txt b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/CMakeLists.txt
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/CMakeLists.txt
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithm_template.hpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithm_template.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithm_template.hpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithm_template.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithms.hpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithms.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithms.hpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_algorithms.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_common.hpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_common.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_common.hpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_common.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp
similarity index 52%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp
index 3747d2b..f179cdb 100644
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_localization_service_node.hpp
@@ -1,12 +1,17 @@
 #pragma once
 
 #include <memory>
+#include <mutex>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/subscription.hpp"
 
+#include "calibration_common_interfaces/msg/readiness_issue.hpp"
 #include "calibration_external_localization_interfaces/action/execute_external_localization_task.hpp"
+#include "calibration_external_localization_interfaces/msg/external_localization_telemetry.hpp"
 #include "calibration_external_localization_interfaces/srv/get_external_localization_readiness.hpp"
 #include "external_localization_service/external_reference_executor.hpp"
 
@@ -28,7 +33,47 @@ private:
   using ReadinessSrv = calibration_external_localization_interfaces::srv::GetExternalLocalizationReadiness;
   using ExecuteTask = calibration_external_localization_interfaces::action::ExecuteExternalLocalizationTask;
   using GoalHandleExecuteTask = rclcpp_action::ServerGoalHandle<ExecuteTask>;
+  using ExternalTelemetry = calibration_external_localization_interfaces::msg::ExternalLocalizationTelemetry;
+  using ReadinessIssue = calibration_common_interfaces::msg::ReadinessIssue;
 
+  struct ReadinessConfig
+  {
+    std::string telemetry_topic;
+    std::string expected_reference_source_name;
+    std::string expected_workcell_zone_id;
+    double telemetry_timeout_sec{1.0};
+    double readiness_max_position_stddev_m{0.05};
+    double readiness_max_yaw_stddev_rad{0.05};
+    double readiness_max_tracking_loss_ratio{0.05};
+    double readiness_max_time_sync_offset_ms{50.0};
+    bool require_valid_pose{true};
+  };
+
+  struct TelemetrySnapshot
+  {
+    ExternalTelemetry latest;
+    std::vector<ExternalTelemetry> history;
+    int64_t last_received_timestamp_us{0};
+    int64_t last_receive_wall_time_us{0};
+    bool has_sample{false};
+  };
+
+  ReadinessConfig load_readiness_config();
+  void handle_external_telemetry(const ExternalTelemetry::SharedPtr msg);
+  void append_issue(
+    calibration_external_localization_interfaces::msg::ExternalLocalizationValidationSummary & summary,
+    const std::string & issue_code,
+    const std::string & message,
+    uint16_t error_code,
+    bool blocking,
+    const std::string & related_resource_id = "") const;
+  void populate_readiness_from_snapshot(
+    calibration_external_localization_interfaces::msg::ExternalLocalizationReadinessResponse & readiness) const;
+
+  ReadinessConfig readiness_config_;
+  mutable std::mutex telemetry_mutex_;
+  TelemetrySnapshot telemetry_snapshot_;
+  rclcpp::Subscription<ExternalTelemetry>::SharedPtr telemetry_subscription_;
   rclcpp::Service<ReadinessSrv>::SharedPtr readiness_service_;
   rclcpp_action::Server<ExecuteTask>::SharedPtr execute_task_action_server_;
   ExternalReferenceExecutor executor_;
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp
similarity index 87%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp
index aa68e06..eb16d0c 100644
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp
@@ -29,6 +29,8 @@ public:
   bool validate_goal(const ExecuteTask::Goal & goal, std::string & reject_reason) const;
   bool build_result(
     const ExecuteTask::Goal & goal,
+    const calibration_external_localization_interfaces::msg::ExternalLocalizationReadinessResponse & readiness,
+    const std::vector<calibration_external_localization_interfaces::msg::ExternalLocalizationTelemetry> & telemetry_history,
     ExecuteTask::Result & external_result,
     std::string & failure_reason) const;
 
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/package.xml b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/package.xml
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/package.xml
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/package.xml
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_localization_algorithm_template.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_localization_algorithm_template.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_localization_algorithm_template.cpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_localization_algorithm_template.cpp
diff --git a/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp
new file mode 100644
index 0000000..192f367
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_localization_service_node.cpp
@@ -0,0 +1,361 @@
+#include "external_localization_service/external_localization_service_node.hpp"
+
+#include <chrono>
+#include <cmath>
+#include <cstddef>
+#include <thread>
+
+#include "calibration_common_interfaces/msg/error_code.hpp"
+#include "calibration_common_interfaces/msg/job_state.hpp"
+
+namespace external_localization_service
+{
+
+namespace
+{
+int64_t now_us()
+{
+  return std::chrono::duration_cast<std::chrono::microseconds>(
+           std::chrono::system_clock::now().time_since_epoch())
+    .count();
+}
+}  // namespace
+
+using calibration_common_interfaces::msg::ErrorCode;
+using calibration_common_interfaces::msg::JobState;
+
+ExternalLocalizationServiceNode::ExternalLocalizationServiceNode(const rclcpp::NodeOptions & options)
+: Node("external_localization_service", options),
+  readiness_config_(load_readiness_config())
+{
+  telemetry_subscription_ = create_subscription<ExternalTelemetry>(
+    readiness_config_.telemetry_topic,
+    rclcpp::QoS(10),
+    std::bind(&ExternalLocalizationServiceNode::handle_external_telemetry, this, std::placeholders::_1));
+
+  readiness_service_ = create_service<ReadinessSrv>(
+    "/external_localization/get_readiness",
+    std::bind(&ExternalLocalizationServiceNode::handle_readiness, this, std::placeholders::_1, std::placeholders::_2));
+
+  execute_task_action_server_ = rclcpp_action::create_server<ExecuteTask>(
+    this,
+    "/external_localization/execute_task",
+    std::bind(&ExternalLocalizationServiceNode::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
+    std::bind(&ExternalLocalizationServiceNode::handle_cancel, this, std::placeholders::_1),
+    std::bind(&ExternalLocalizationServiceNode::handle_accepted, this, std::placeholders::_1));
+}
+
+ExternalLocalizationServiceNode::ReadinessConfig ExternalLocalizationServiceNode::load_readiness_config()
+{
+  ReadinessConfig config;
+  config.telemetry_topic = declare_parameter<std::string>(
+    "external_telemetry_topic", "/isaac/external_localization/telemetry");
+  config.expected_reference_source_name = declare_parameter<std::string>(
+    "expected_reference_source_name", "isaac_sim_truth_source");
+  config.expected_workcell_zone_id = declare_parameter<std::string>(
+    "expected_workcell_zone_id", "");
+  config.telemetry_timeout_sec = declare_parameter<double>("telemetry_timeout_sec", 1.0);
+  config.readiness_max_position_stddev_m = declare_parameter<double>(
+    "readiness_max_position_stddev_m", 0.05);
+  config.readiness_max_yaw_stddev_rad = declare_parameter<double>(
+    "readiness_max_yaw_stddev_rad", 0.05);
+  config.readiness_max_tracking_loss_ratio = declare_parameter<double>(
+    "readiness_max_tracking_loss_ratio", 0.05);
+  config.readiness_max_time_sync_offset_ms = declare_parameter<double>(
+    "readiness_max_time_sync_offset_ms", 50.0);
+  config.require_valid_pose = declare_parameter<bool>("require_valid_pose", true);
+  return config;
+}
+
+void ExternalLocalizationServiceNode::handle_external_telemetry(const ExternalTelemetry::SharedPtr msg)
+{
+  std::lock_guard<std::mutex> lock(telemetry_mutex_);
+  telemetry_snapshot_.latest = *msg;
+  telemetry_snapshot_.last_received_timestamp_us = msg->hardware_timestamp_us;
+  telemetry_snapshot_.last_receive_wall_time_us = now_us();
+  telemetry_snapshot_.has_sample = true;
+  telemetry_snapshot_.history.push_back(*msg);
+  constexpr size_t kMaxHistorySize = 200;
+  if (telemetry_snapshot_.history.size() > kMaxHistorySize) {
+    telemetry_snapshot_.history.erase(
+      telemetry_snapshot_.history.begin(),
+      telemetry_snapshot_.history.begin() +
+      static_cast<std::ptrdiff_t>(telemetry_snapshot_.history.size() - kMaxHistorySize));
+  }
+}
+
+void ExternalLocalizationServiceNode::append_issue(
+  calibration_external_localization_interfaces::msg::ExternalLocalizationValidationSummary & summary,
+  const std::string & issue_code,
+  const std::string & message,
+  uint16_t error_code,
+  bool blocking,
+  const std::string & related_resource_id) const
+{
+  ReadinessIssue issue;
+  issue.issue_code = issue_code;
+  issue.message = message;
+  issue.mapped_error_code.code = error_code;
+  issue.blocking = blocking;
+  issue.related_resource_id = related_resource_id;
+  summary.issues.push_back(issue);
+}
+
+void ExternalLocalizationServiceNode::populate_readiness_from_snapshot(
+  calibration_external_localization_interfaces::msg::ExternalLocalizationReadinessResponse & readiness) const
+{
+  readiness.success = true;
+  readiness.error_code.code = ErrorCode::OK;
+  readiness.message = "external_localization_service is ready.";
+  readiness.agent_ready = true;
+  readiness.ready_for_reference_validation = true;
+  readiness.checked_timestamp_us = now_us();
+  readiness.validation_summary.time_sync_ok = true;
+  readiness.validation_summary.coverage_ok = true;
+  readiness.validation_summary.quality_ok = true;
+  readiness.validation_summary.tracking_stable = true;
+  readiness.validation_summary.recommended_as_truth_source = true;
+  readiness.validation_summary.position_stddev_m = 0.0;
+  readiness.validation_summary.yaw_stddev_rad = 0.0;
+  readiness.validation_summary.tracking_loss_ratio = 0.0;
+  readiness.validation_summary.time_sync_offset_ms = 0.0;
+  readiness.validation_summary.issues.clear();
+
+  TelemetrySnapshot snapshot;
+  {
+    std::lock_guard<std::mutex> lock(telemetry_mutex_);
+    snapshot = telemetry_snapshot_;
+  }
+
+  if (!snapshot.has_sample) {
+    readiness.success = false;
+    readiness.agent_ready = false;
+    readiness.ready_for_reference_validation = false;
+    readiness.error_code.code = ErrorCode::NOT_READY;
+    readiness.message = "尚未收到 external 仿真遥测。";
+    append_issue(
+      readiness.validation_summary,
+      "external_telemetry_missing",
+      "尚未收到 external 仿真遥测消息。",
+      ErrorCode::NOT_READY,
+      true,
+      readiness_config_.telemetry_topic);
+    return;
+  }
+
+  const double telemetry_age_sec =
+    static_cast<double>(now_us() - snapshot.last_receive_wall_time_us) / 1e6;
+  const auto & latest = snapshot.latest;
+  readiness.validation_summary.position_stddev_m = latest.position_stddev_m;
+  readiness.validation_summary.yaw_stddev_rad = latest.yaw_stddev_rad;
+  readiness.validation_summary.tracking_loss_ratio = latest.tracking_loss_ratio;
+  readiness.validation_summary.time_sync_offset_ms = std::abs(latest.time_sync_offset_ms);
+
+  if (telemetry_age_sec > readiness_config_.telemetry_timeout_sec) {
+    readiness.ready_for_reference_validation = false;
+    readiness.agent_ready = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::TIMEOUT;
+    readiness.message = "external 仿真遥测超时。";
+    append_issue(
+      readiness.validation_summary,
+      "external_telemetry_timeout",
+      "external 仿真遥测长时间未更新。",
+      ErrorCode::TIMEOUT,
+      true,
+      readiness_config_.telemetry_topic);
+  }
+
+  if (readiness_config_.require_valid_pose && !latest.pose_valid) {
+    readiness.validation_summary.coverage_ok = false;
+    readiness.validation_summary.quality_ok = false;
+    readiness.validation_summary.tracking_stable = false;
+    readiness.ready_for_reference_validation = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::DATA_QUALITY_INSUFFICIENT;
+    readiness.message = "external 仿真遥测位姿无效。";
+    append_issue(
+      readiness.validation_summary,
+      "external_pose_invalid",
+      "最新 external 仿真遥测位姿无效。",
+      ErrorCode::DATA_QUALITY_INSUFFICIENT,
+      true,
+      latest.reference_source_name);
+  }
+
+  if (!readiness_config_.expected_reference_source_name.empty() &&
+    latest.reference_source_name != readiness_config_.expected_reference_source_name)
+  {
+    readiness.validation_summary.coverage_ok = false;
+    readiness.ready_for_reference_validation = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::INVALID_ARGUMENT;
+    readiness.message = "external 真值源名称不匹配。";
+    append_issue(
+      readiness.validation_summary,
+      "reference_source_mismatch",
+      "收到的 external 真值源名称与预期不一致。",
+      ErrorCode::INVALID_ARGUMENT,
+      true,
+      latest.reference_source_name);
+  }
+
+  readiness.validation_summary.time_sync_ok =
+    std::abs(latest.time_sync_offset_ms) <= readiness_config_.readiness_max_time_sync_offset_ms;
+  if (!readiness.validation_summary.time_sync_ok) {
+    readiness.ready_for_reference_validation = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::DATA_QUALITY_INSUFFICIENT;
+    readiness.message = "external 时间同步偏差超限。";
+    append_issue(
+      readiness.validation_summary,
+      "external_time_sync_exceeded",
+      "external 时间同步偏差超出阈值。",
+      ErrorCode::DATA_QUALITY_INSUFFICIENT,
+      true,
+      latest.reference_source_name);
+  }
+
+  readiness.validation_summary.quality_ok =
+    latest.position_stddev_m <= readiness_config_.readiness_max_position_stddev_m &&
+    latest.yaw_stddev_rad <= readiness_config_.readiness_max_yaw_stddev_rad &&
+    latest.quality_score > 0.5;
+  if (!readiness.validation_summary.quality_ok) {
+    readiness.ready_for_reference_validation = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::DATA_QUALITY_INSUFFICIENT;
+    readiness.message = "external 观测质量不足。";
+    append_issue(
+      readiness.validation_summary,
+      "external_quality_insufficient",
+      "external 遥测标准差或质量分数不满足阈值。",
+      ErrorCode::DATA_QUALITY_INSUFFICIENT,
+      true,
+      latest.reference_source_name);
+  }
+
+  readiness.validation_summary.tracking_stable =
+    latest.tracking_loss_ratio <= readiness_config_.readiness_max_tracking_loss_ratio;
+  if (!readiness.validation_summary.tracking_stable) {
+    readiness.ready_for_reference_validation = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::DATA_QUALITY_INSUFFICIENT;
+    readiness.message = "external 跟踪稳定性不足。";
+    append_issue(
+      readiness.validation_summary,
+      "external_tracking_unstable",
+      "external 跟踪丢失比例超出阈值。",
+      ErrorCode::DATA_QUALITY_INSUFFICIENT,
+      true,
+      latest.reference_source_name);
+  }
+
+  readiness.validation_summary.coverage_ok = latest.observed_target_count > 0;
+  if (!readiness.validation_summary.coverage_ok) {
+    readiness.ready_for_reference_validation = false;
+    readiness.success = false;
+    readiness.error_code.code = ErrorCode::DATA_QUALITY_INSUFFICIENT;
+    readiness.message = "external 观测覆盖不足。";
+    append_issue(
+      readiness.validation_summary,
+      "external_target_missing",
+      "external 遥测没有有效目标观测。",
+      ErrorCode::DATA_QUALITY_INSUFFICIENT,
+      true,
+      latest.reference_source_name);
+  }
+
+  readiness.validation_summary.recommended_as_truth_source =
+    readiness.validation_summary.time_sync_ok &&
+    readiness.validation_summary.coverage_ok &&
+    readiness.validation_summary.quality_ok &&
+    readiness.validation_summary.tracking_stable;
+
+  if (!readiness.success && readiness.validation_summary.issues.empty()) {
+    append_issue(
+      readiness.validation_summary,
+      "external_unknown_failure",
+      "external readiness 未通过，但没有生成明确诊断。",
+      ErrorCode::INTERNAL_ERROR,
+      true,
+      latest.reference_source_name);
+  }
+}
+
+void ExternalLocalizationServiceNode::handle_readiness(
+  const std::shared_ptr<ReadinessSrv::Request> request,
+  std::shared_ptr<ReadinessSrv::Response> response)
+{
+  (void)request;
+  populate_readiness_from_snapshot(response->response);
+}
+
+rclcpp_action::GoalResponse ExternalLocalizationServiceNode::handle_goal(
+  const rclcpp_action::GoalUUID & /*uuid*/,
+  std::shared_ptr<const ExecuteTask::Goal> goal)
+{
+  std::string reject_reason;
+  if (!executor_.validate_goal(*goal, reject_reason)) {
+    RCLCPP_WARN(get_logger(), "Reject external_localization goal: %s", reject_reason.c_str());
+    return rclcpp_action::GoalResponse::REJECT;
+  }
+
+  calibration_external_localization_interfaces::msg::ExternalLocalizationReadinessResponse readiness;
+  populate_readiness_from_snapshot(readiness);
+  if (!readiness.ready_for_reference_validation) {
+    RCLCPP_WARN(get_logger(), "Reject external_localization goal because readiness failed: %s", readiness.message.c_str());
+    return rclcpp_action::GoalResponse::REJECT;
+  }
+  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+}
+
+rclcpp_action::CancelResponse ExternalLocalizationServiceNode::handle_cancel(
+  const std::shared_ptr<GoalHandleExecuteTask> /*goal_handle*/)
+{
+  return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+void ExternalLocalizationServiceNode::handle_accepted(
+  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
+{
+  std::thread(std::bind(&ExternalLocalizationServiceNode::execute_goal, this, goal_handle)).detach();
+}
+
+void ExternalLocalizationServiceNode::execute_goal(
+  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
+{
+  auto feedback = std::make_shared<ExecuteTask::Feedback>();
+  feedback->feedback.job_id = goal_handle->get_goal()->goal.header.request_id;
+  feedback->feedback.state.state = JobState::RUNNING;
+  feedback->feedback.progress = 0.5;
+  feedback->feedback.error_code.code = ErrorCode::OK;
+  feedback->feedback.message = "external localization task is running.";
+  feedback->feedback.server_timestamp_us = now_us();
+  feedback->feedback.safe_to_retry = false;
+  goal_handle->publish_feedback(feedback);
+
+  auto result = std::make_shared<ExecuteTask::Result>();
+  std::string failure_reason;
+  calibration_external_localization_interfaces::msg::ExternalLocalizationReadinessResponse readiness;
+  populate_readiness_from_snapshot(readiness);
+
+  std::vector<ExternalTelemetry> telemetry_history;
+  {
+    std::lock_guard<std::mutex> lock(telemetry_mutex_);
+    telemetry_history = telemetry_snapshot_.history;
+  }
+
+  if (!executor_.build_result(*goal_handle->get_goal(), readiness, telemetry_history, *result, failure_reason)) {
+    result->result.success = false;
+    result->result.error_code.code =
+      readiness.success ? ErrorCode::INVALID_ARGUMENT : readiness.error_code.code;
+    result->result.message = failure_reason.empty() ? readiness.message : failure_reason;
+    result->result.validation_summary = readiness.validation_summary;
+    goal_handle->abort(result);
+    return;
+  }
+
+  goal_handle->succeed(result);
+}
+
+}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp
similarity index 84%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp
index ea685d6..e9dcb33 100644
--- a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp
@@ -30,6 +30,8 @@ bool ExternalReferenceExecutor::validate_goal(
 
 bool ExternalReferenceExecutor::build_result(
   const ExecuteTask::Goal & goal,
+  const calibration_external_localization_interfaces::msg::ExternalLocalizationReadinessResponse & readiness,
+  const std::vector<calibration_external_localization_interfaces::msg::ExternalLocalizationTelemetry> & telemetry_history,
   ExecuteTask::Result & external_result,
   std::string & failure_reason) const
 {
@@ -68,9 +70,21 @@ bool ExternalReferenceExecutor::build_result(
   input.workcell_zone_id = goal.goal.workcell_zone_id;
 
   input.candidate_calibration_result.workshop_frame_id = "workshop";
-  input.candidate_calibration_result.localization_frame_id = "localization";
+  input.candidate_calibration_result.localization_frame_id = goal.goal.localization_source_id;
   input.candidate_calibration_result.localization_source_id = goal.goal.localization_source_id;
   input.candidate_calibration_result.workcell_zone_id = goal.goal.workcell_zone_id;
+  input.external_localization_readiness = readiness;
+  input.external_localization_telemetry_history = telemetry_history;
+  if (!telemetry_history.empty()) {
+    input.latest_external_localization_telemetry = telemetry_history.back();
+    input.candidate_calibration_result.workshop_to_localization = telemetry_history.back().workshop_pose;
+    input.candidate_calibration_result.tracking_loss_ratio = telemetry_history.back().tracking_loss_ratio;
+    input.candidate_calibration_result.time_sync_offset_ms = telemetry_history.back().time_sync_offset_ms;
+  }
+  input.truth_source_diagnostics.push_back("telemetry_samples=" + std::to_string(telemetry_history.size()));
+  input.truth_source_diagnostics.push_back(
+    std::string("ready_for_reference_validation=") +
+    (readiness.ready_for_reference_validation ? "true" : "false"));
 
   input.external_history_available = !input.external_localization_telemetry_history.empty();
   input.chassis_history_available = !input.chassis_telemetry_history.empty();
diff --git a/agv_calib_brain/src/agv_calib_core/external_localization_service/src/main.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/external_localization_service/src/main.cpp
rename to agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/main.cpp
diff --git a/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp
new file mode 100644
index 0000000..0bb84b4
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/marker_alignment_algorithm.cpp
@@ -0,0 +1,91 @@
+#include "external_localization_service/external_localization_common.hpp"
+
+#include <cmath>
+
+namespace external_localization_service
+{
+
+bool MarkerAlignmentAlgorithm::run(
+  const ExternalLocalizationInput & input,
+  ExternalLocalizationOutput & output,
+  std::string & failure_reason) const
+{
+  // 标靶对齐逻辑实现：
+  // 1. 检查输入样本是否充足
+  if (input.external_localization_telemetry_history.empty()) {
+    failure_reason = "没有外部定位观测数据，无法进行标靶对齐。";
+    return false;
+  }
+
+  const uint32_t required_count = input.marker_alignment_task.min_valid_observation_count > 0 ?
+                                  input.marker_alignment_task.min_valid_observation_count : 1;
+
+  std::vector<calibration_external_localization_interfaces::msg::ExternalLocalizationTelemetry> valid_samples;
+  for (const auto & sample : input.external_localization_telemetry_history) {
+    if (sample.pose_valid && sample.quality_score > 0.5) {
+      valid_samples.push_back(sample);
+    }
+  }
+
+  if (valid_samples.size() < required_count) {
+    failure_reason = "有效观测样本数不足 (当前: " + std::to_string(valid_samples.size()) +
+                     ", 需要: " + std::to_string(required_count) + ")。";
+    return false;
+  }
+
+  // 2. 计算平均位姿（简化实现：取均值）
+  double sum_x = 0, sum_y = 0, sum_z = 0;
+  double sum_roll = 0, sum_pitch = 0, sum_yaw = 0;
+
+  for (const auto & sample : valid_samples) {
+    sum_x += sample.workshop_pose.x_m;
+    sum_y += sample.workshop_pose.y_m;
+    sum_z += sample.workshop_pose.z_m;
+    sum_roll += sample.workshop_pose.roll_rad;
+    sum_pitch += sample.workshop_pose.pitch_rad;
+    sum_yaw += sample.workshop_pose.yaw_rad;
+  }
+
+  const double count_inv = 1.0 / valid_samples.size();
+
+  // 3. 填充成功结果
+  fill_external_localization_common_success(
+    input,
+    output,
+    "标靶对齐成功，基于 " + std::to_string(valid_samples.size()) + " 个样本计算。",
+    "marker_alignment_v1.0");
+
+  auto & res = output.response.result.result;
+  res.workshop_frame_id = "workshop";
+  res.localization_frame_id = "localization";
+
+  // 假设观测到的位姿即为对齐后的变换（实际生产中需配合标靶真值计算 T_w_l = T_w_marker * inv(T_l_marker)）
+  res.workshop_to_localization.x_m = sum_x * count_inv;
+  res.workshop_to_localization.y_m = sum_y * count_inv;
+  res.workshop_to_localization.z_m = sum_z * count_inv;
+  res.workshop_to_localization.roll_rad = sum_roll * count_inv;
+  res.workshop_to_localization.pitch_rad = sum_pitch * count_inv;
+  res.workshop_to_localization.yaw_rad = sum_yaw * count_inv;
+
+  // 4. 计算残差（标准差）
+  double var_pos = 0;
+  double var_yaw = 0;
+  for (const auto & sample : valid_samples) {
+    double dx = sample.workshop_pose.x_m - res.workshop_to_localization.x_m;
+    double dy = sample.workshop_pose.y_m - res.workshop_to_localization.y_m;
+    double dyaw = sample.workshop_pose.yaw_rad - res.workshop_to_localization.yaw_rad;
+    var_pos += (dx * dx + dy * dy);
+    var_yaw += (dyaw * dyaw);
+  }
+
+  res.residual_error_m = std::sqrt(var_pos * count_inv);
+  res.residual_error_rad = std::sqrt(var_yaw * count_inv);
+  res.position_repeatability_m = res.residual_error_m;
+  res.yaw_repeatability_rad = res.residual_error_rad;
+
+  res.validated_as_truth_source = (res.residual_error_m < 0.05); // 示例验收标准：5cm
+
+  return true;
+}
+
+}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp
new file mode 100644
index 0000000..b41512c
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/reference_pose_collection_algorithm.cpp
@@ -0,0 +1,91 @@
+#include "external_localization_service/external_localization_common.hpp"
+
+#include <cmath>
+
+namespace external_localization_service
+{
+
+bool ReferencePoseCollectionAlgorithm::run(
+  const ExternalLocalizationInput & input,
+  ExternalLocalizationOutput & output,
+  std::string & failure_reason) const
+{
+  // 参考位姿采集逻辑实现：
+  // 1. 检查输入样本
+  if (input.external_localization_telemetry_history.empty()) {
+    failure_reason = "没有外部定位观测数据，无法进行参考位姿采集。";
+    return false;
+  }
+
+  // 2. 检查车辆静止状态（如果任务要求）
+  if (input.require_vehicle_static) {
+    bool moving = false;
+    for (const auto & chassis : input.chassis_telemetry_history) {
+      if (std::abs(chassis.linear_velocity_ms) > 0.01 || std::abs(chassis.angular_velocity_rads) > 0.01) {
+        moving = true;
+        break;
+      }
+    }
+    if (moving) {
+      failure_reason = "车辆未处于静止状态，无法采集高精度参考位姿。";
+      return false;
+    }
+  }
+
+  const uint32_t required_count = input.required_reference_pose_sample_count > 0 ?
+                                  input.required_reference_pose_sample_count : 10;
+
+  std::vector<calibration_external_localization_interfaces::msg::ExternalLocalizationTelemetry> valid_samples;
+  for (const auto & sample : input.external_localization_telemetry_history) {
+    if (sample.pose_valid && sample.quality_score > 0.6) {
+      valid_samples.push_back(sample);
+    }
+  }
+
+  if (valid_samples.size() < required_count) {
+    failure_reason = "有效样本数不足 (当前: " + std::to_string(valid_samples.size()) +
+                     ", 需要: " + std::to_string(required_count) + ")。";
+    return false;
+  }
+
+  // 3. 计算统计结果
+  double sum_x = 0, sum_y = 0, sum_yaw = 0;
+  for (const auto & s : valid_samples) {
+    sum_x += s.workshop_pose.x_m;
+    sum_y += s.workshop_pose.y_m;
+    sum_yaw += s.workshop_pose.yaw_rad;
+  }
+  const double count_inv = 1.0 / valid_samples.size();
+  const double avg_x = sum_x * count_inv;
+  const double avg_y = sum_y * count_inv;
+  const double avg_yaw = sum_yaw * count_inv;
+
+  double var_pos = 0, var_yaw = 0;
+  for (const auto & s : valid_samples) {
+    double dx = s.workshop_pose.x_m - avg_x;
+    double dy = s.workshop_pose.y_m - avg_y;
+    double dyaw = s.workshop_pose.yaw_rad - avg_yaw;
+    var_pos += (dx * dx + dy * dy);
+    var_yaw += (dyaw * dyaw);
+  }
+
+  // 4. 填充结果
+  fill_external_localization_common_success(
+    input,
+    output,
+    "参考位姿采集完成，已采集 " + std::to_string(valid_samples.size()) + " 个有效样本。",
+    "reference_collection_v1.0");
+
+  auto & res = output.response.result.result;
+  res.workshop_frame_id = "workshop";
+  res.localization_frame_id = "localization";
+  res.position_repeatability_m = std::sqrt(var_pos * count_inv);
+  res.yaw_repeatability_rad = std::sqrt(var_yaw * count_inv);
+
+  // 验证结果是否可信
+  res.validated_as_truth_source = (res.position_repeatability_m < 0.02); // 静态重复性优于 2cm
+
+  return true;
+}
+
+}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp
new file mode 100644
index 0000000..1d1680e
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/external_localization_service/src/truth_source_validation_algorithm.cpp
@@ -0,0 +1,71 @@
+#include "external_localization_service/external_localization_common.hpp"
+
+namespace external_localization_service
+{
+
+bool TruthSourceValidationAlgorithm::run(
+  const ExternalLocalizationInput & input,
+  ExternalLocalizationOutput & output,
+  std::string & failure_reason) const
+{
+  // 真值源验证逻辑实现：
+  // 1. 检查历史观测数据
+  if (input.external_localization_telemetry_history.empty()) {
+    failure_reason = "没有观测数据可供验证。";
+    return false;
+  }
+
+  uint32_t valid_count = 0;
+  double total_loss_ratio = 0;
+  double total_time_offset = 0;
+  double max_pos_stddev = 0;
+  double max_yaw_stddev = 0;
+
+  for (const auto & sample : input.external_localization_telemetry_history) {
+    if (sample.pose_valid) {
+      valid_count++;
+      max_pos_stddev = std::max(max_pos_stddev, sample.position_stddev_m);
+      max_yaw_stddev = std::max(max_yaw_stddev, sample.yaw_stddev_rad);
+    }
+    total_loss_ratio += sample.tracking_loss_ratio;
+    total_time_offset += std::abs(sample.time_sync_offset_ms);
+  }
+
+  const double count_inv = 1.0 / input.external_localization_telemetry_history.size();
+  const double avg_loss_ratio = total_loss_ratio * count_inv;
+  const double avg_time_offset = total_time_offset * count_inv;
+  const double availability = static_cast<double>(valid_count) * count_inv;
+
+  // 2. 判定真值源质量
+  bool quality_ok = (availability > 0.95) && (avg_loss_ratio < 0.05) && (avg_time_offset < 50.0);
+
+  if (availability < 0.5) {
+    failure_reason = "外部定位可用性过低 (当前: " + std::to_string(availability * 100.0) + "%)";
+    return false;
+  }
+
+  // 3. 填充成功结果
+  fill_external_localization_common_success(
+    input,
+    output,
+    "真值源验证完成。可用性: " + std::to_string(availability * 100.0) + "%",
+    "truth_validation_v1.0");
+
+  auto & summary = output.response.result.validation_summary;
+  summary.time_sync_ok = (avg_time_offset < 50.0);
+  summary.coverage_ok = (availability > 0.9);
+  summary.quality_ok = quality_ok;
+  summary.tracking_stable = (max_pos_stddev < 0.1);
+  summary.recommended_as_truth_source = quality_ok;
+  summary.tracking_loss_ratio = avg_loss_ratio;
+  summary.time_sync_offset_ms = avg_time_offset;
+
+  auto & res = output.response.result.result;
+  res.tracking_loss_ratio = avg_loss_ratio;
+  res.time_sync_offset_ms = avg_time_offset;
+  res.validated_as_truth_source = quality_ok;
+
+  return true;
+}
+
+}  // namespace external_localization_service
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/CMakeLists.txt b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/CMakeLists.txt
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/CMakeLists.txt
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithm_template.hpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithm_template.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithm_template.hpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithm_template.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithms.hpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithms.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithms.hpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_algorithms.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_common.hpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_common.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_common.hpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_common.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp
similarity index 75%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp
index d4cabd4..9af050a 100644
--- a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/include/sensor_calibration_service/sensor_calibration_service_node.hpp
@@ -1,7 +1,10 @@
 #pragma once
 
+#include <cstdint>
 #include <memory>
 #include <string>
+#include <unordered_map>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
@@ -32,9 +35,32 @@ private:
   using GoalHandleExecuteTask = rclcpp_action::ServerGoalHandle<ExecuteTask>;
   using TaskType = calibration_sensor_interfaces::msg::SensorCalibrationTaskType;
 
+  struct ReadinessConfig
+  {
+    std::string storage_root;
+    std::string capture_pipeline_name;
+    std::string sensor_registry_raw;
+    std::string telemetry_topics_raw;
+    std::string arm_id;
+    bool vehicle_safe_to_move{true};
+    bool arm_ready{true};
+    std::vector<std::string> ready_sensor_ids;
+  };
+
   rclcpp::Service<ReadinessSrv>::SharedPtr readiness_service_;
   rclcpp_action::Server<ExecuteTask>::SharedPtr execute_task_action_server_;
   SensorCalibrationAlgorithmTemplate algorithm_;
+  ReadinessConfig readiness_config_;
+
+  ReadinessConfig load_readiness_config();
+  std::vector<std::string> parse_csv_list(const std::string & raw) const;
+  void append_issue(
+    calibration_sensor_interfaces::msg::SensorReadinessResponse & response,
+    const std::string & issue_code,
+    const std::string & message,
+    uint16_t error_code,
+    bool blocking,
+    const std::string & related_resource_id = "") const;
 
   void handle_readiness(
     const std::shared_ptr<ReadinessSrv::Request> request,
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/package.xml b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/package.xml
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/package.xml
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/package.xml
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/camera_intrinsic_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/camera_intrinsic_calibration_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/camera_intrinsic_calibration_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/camera_intrinsic_calibration_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/hand_eye_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/hand_eye_calibration_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/hand_eye_calibration_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/hand_eye_calibration_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/imu_intrinsic_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/imu_intrinsic_calibration_algorithm.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/imu_intrinsic_calibration_algorithm.cpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/imu_intrinsic_calibration_algorithm.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/main.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/main.cpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/main.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_calibration_algorithm_template.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_calibration_algorithm_template.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/sensor_calibration_service/src/sensor_calibration_algorithm_template.cpp
rename to agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_calibration_algorithm_template.cpp
diff --git a/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp
new file mode 100644
index 0000000..20d0c21
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_calibration_service_node.cpp
@@ -0,0 +1,303 @@
+#include "sensor_calibration_service/sensor_calibration_service_node.hpp"
+
+#include <chrono>
+#include <filesystem>
+#include <sstream>
+#include <thread>
+
+#include "calibration_common_interfaces/msg/error_code.hpp"
+#include "calibration_common_interfaces/msg/job_state.hpp"
+#include "calibration_common_interfaces/msg/readiness_issue.hpp"
+#include "calibration_sensor_interfaces/msg/capture_intent_type.hpp"
+#include "calibration_sensor_interfaces/msg/sensor_calibration_job_result.hpp"
+#include "calibration_sensor_interfaces/msg/sensor_readiness_response.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/sensor_type.hpp"
+
+namespace sensor_calibration_service
+{
+
+namespace
+{
+int64_t now_us()
+{
+  return std::chrono::duration_cast<std::chrono::microseconds>(
+           std::chrono::system_clock::now().time_since_epoch())
+    .count();
+}
+}  // namespace
+
+using calibration_common_interfaces::msg::ErrorCode;
+using calibration_common_interfaces::msg::JobState;
+
+SensorCalibrationServiceNode::SensorCalibrationServiceNode(const rclcpp::NodeOptions & options)
+: Node("sensor_calibration_service", options)
+{
+  readiness_config_ = load_readiness_config();
+
+  readiness_service_ = create_service<ReadinessSrv>(
+    "/sensor_calibration/get_readiness",
+    std::bind(&SensorCalibrationServiceNode::handle_readiness, this, std::placeholders::_1, std::placeholders::_2));
+
+  execute_task_action_server_ = rclcpp_action::create_server<ExecuteTask>(
+    this,
+    "/sensor_calibration/execute_task",
+    std::bind(&SensorCalibrationServiceNode::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
+    std::bind(&SensorCalibrationServiceNode::handle_cancel, this, std::placeholders::_1),
+    std::bind(&SensorCalibrationServiceNode::handle_accepted, this, std::placeholders::_1));
+}
+
+void SensorCalibrationServiceNode::handle_readiness(
+  const std::shared_ptr<ReadinessSrv::Request> request,
+  std::shared_ptr<ReadinessSrv::Response> response)
+{
+  (void)request;
+  auto & rsp = response->response;
+  rsp.success = true;
+  rsp.error_code.code = ErrorCode::OK;
+  rsp.message = "sensor_calibration_service is ready.";
+  rsp.agent_ready = true;
+  rsp.capture_pipeline_ready = !readiness_config_.capture_pipeline_name.empty();
+  rsp.storage_ready = !readiness_config_.storage_root.empty() &&
+    std::filesystem::exists(readiness_config_.storage_root) &&
+    std::filesystem::is_directory(readiness_config_.storage_root);
+  rsp.telemetry_ready = !readiness_config_.telemetry_topics_raw.empty();
+  rsp.vehicle_safe_to_move = readiness_config_.vehicle_safe_to_move;
+  rsp.arm_ready = readiness_config_.arm_ready;
+  rsp.ready_sensor_ids = readiness_config_.ready_sensor_ids;
+  rsp.checked_timestamp_us = now_us();
+
+  if (!rsp.capture_pipeline_ready) {
+    append_issue(
+      rsp, "capture_pipeline_missing", "未配置 capture_pipeline_name。",
+      ErrorCode::NOT_READY, true);
+  }
+  if (!rsp.storage_ready) {
+    append_issue(
+      rsp, "storage_root_unavailable", "sensor_storage_root 不存在或不是目录。",
+      ErrorCode::FILE_NOT_FOUND, true, readiness_config_.storage_root);
+  }
+  if (!rsp.telemetry_ready) {
+    append_issue(
+      rsp, "telemetry_topics_missing", "未配置 telemetry_topics，无法确认采集反馈链路。",
+      ErrorCode::NOT_READY, true);
+  }
+  if (rsp.ready_sensor_ids.empty()) {
+    append_issue(
+      rsp, "sensor_registry_empty", "未配置可用传感器列表 sensor_registry。",
+      ErrorCode::INVALID_ARGUMENT, true);
+  }
+  if (!rsp.vehicle_safe_to_move) {
+    append_issue(
+      rsp, "vehicle_not_safe_to_move", "当前配置声明车辆不可移动。",
+      ErrorCode::SAFETY_TRIGGERED, true);
+  }
+  if (!rsp.arm_ready && !readiness_config_.arm_id.empty()) {
+    append_issue(
+      rsp, "arm_not_ready", "当前配置声明机械臂未就绪。",
+      ErrorCode::NOT_READY, true, readiness_config_.arm_id);
+  }
+
+  if (!rsp.issues.empty()) {
+    rsp.success = false;
+    rsp.agent_ready = false;
+    rsp.message = "sensor_calibration_service readiness 检查未通过。";
+    rsp.error_code.code = rsp.storage_ready ? ErrorCode::NOT_READY : ErrorCode::FILE_NOT_FOUND;
+  }
+}
+
+rclcpp_action::GoalResponse SensorCalibrationServiceNode::handle_goal(
+  const rclcpp_action::GoalUUID & /*uuid*/,
+  std::shared_ptr<const ExecuteTask::Goal> goal)
+{
+  if (goal->goal.header.request_id.empty()) {
+    return rclcpp_action::GoalResponse::REJECT;
+  }
+  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+}
+
+rclcpp_action::CancelResponse SensorCalibrationServiceNode::handle_cancel(
+  const std::shared_ptr<GoalHandleExecuteTask> /*goal_handle*/)
+{
+  return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+void SensorCalibrationServiceNode::handle_accepted(
+  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
+{
+  std::thread(std::bind(&SensorCalibrationServiceNode::execute_goal, this, goal_handle)).detach();
+}
+
+SensorCalibrationServiceNode::ReadinessConfig SensorCalibrationServiceNode::load_readiness_config()
+{
+  ReadinessConfig config;
+  config.storage_root = declare_parameter<std::string>("sensor_storage_root", "/tmp/agv_sensor_calibration");
+  config.capture_pipeline_name = declare_parameter<std::string>("capture_pipeline_name", "sensor_capture_pipeline");
+  config.sensor_registry_raw = declare_parameter<std::string>("sensor_registry", "demo_sensor_001");
+  config.telemetry_topics_raw = declare_parameter<std::string>("telemetry_topics", "/sensor_calibration/telemetry");
+  config.arm_id = declare_parameter<std::string>("arm_id", "");
+  config.vehicle_safe_to_move = declare_parameter<bool>("vehicle_safe_to_move", true);
+  config.arm_ready = declare_parameter<bool>("arm_ready", true);
+  config.ready_sensor_ids = parse_csv_list(config.sensor_registry_raw);
+  return config;
+}
+
+std::vector<std::string> SensorCalibrationServiceNode::parse_csv_list(const std::string & raw) const
+{
+  std::vector<std::string> items;
+  std::stringstream ss(raw);
+  std::string item;
+  while (std::getline(ss, item, ',')) {
+    const auto begin = item.find_first_not_of(" \t\n\r");
+    if (begin == std::string::npos) {
+      continue;
+    }
+    const auto end = item.find_last_not_of(" \t\n\r");
+    items.push_back(item.substr(begin, end - begin + 1));
+  }
+  return items;
+}
+
+void SensorCalibrationServiceNode::append_issue(
+  calibration_sensor_interfaces::msg::SensorReadinessResponse & response,
+  const std::string & issue_code,
+  const std::string & message,
+  uint16_t error_code,
+  bool blocking,
+  const std::string & related_resource_id) const
+{
+  calibration_common_interfaces::msg::ReadinessIssue issue;
+  issue.issue_code = issue_code;
+  issue.message = message;
+  issue.mapped_error_code.code = error_code;
+  issue.blocking = blocking;
+  issue.related_resource_id = related_resource_id;
+  response.issues.push_back(issue);
+}
+
+void SensorCalibrationServiceNode::execute_goal(
+  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
+{
+  // 先回一帧 RUNNING feedback，告诉 orchestrator 当前任务已经进入执行阶段。
+  auto feedback = std::make_shared<ExecuteTask::Feedback>();
+  feedback->feedback.state.state = JobState::RUNNING;
+  goal_handle->publish_feedback(feedback);
+
+  // ===== 组装算法输入上下文 =====
+  // 当前模板阶段先把“算法最常用的任务侧输入”显式展开。
+  // 后续如果要接真实车辆画像、已生效参数查询、历史遥测缓存、外部定位缓存，
+  // 也应继续在这里补齐并写入 SensorCalibrationInput。
+  SensorCalibrationAlgorithmTemplate::Input input;
+  input.request = *goal_handle->get_goal();
+  input.task_type = goal_handle->get_goal()->goal.selected_task;
+  input.task_subtype = goal_handle->get_goal()->goal.task_subtype;
+  input.target_sensor_id = resolve_target_sensor_id(*goal_handle->get_goal());
+  input.camera_intrinsic_task = goal_handle->get_goal()->goal.camera_intrinsic;
+  input.imu_intrinsic_task = goal_handle->get_goal()->goal.imu_intrinsic;
+  input.sensor_to_base_extrinsic_task = goal_handle->get_goal()->goal.sensor_to_base_extrinsic;
+  input.hand_eye_task = goal_handle->get_goal()->goal.hand_eye;
+  input.sensor_readiness.success = true;
+  input.sensor_readiness.error_code.code = ErrorCode::OK;
+  input.sensor_readiness.agent_ready = true;
+  input.sensor_readiness.capture_pipeline_ready = !readiness_config_.capture_pipeline_name.empty();
+  input.sensor_readiness.storage_ready = !readiness_config_.storage_root.empty() &&
+    std::filesystem::exists(readiness_config_.storage_root) &&
+    std::filesystem::is_directory(readiness_config_.storage_root);
+  input.sensor_readiness.telemetry_ready = !readiness_config_.telemetry_topics_raw.empty();
+  input.sensor_readiness.vehicle_safe_to_move = readiness_config_.vehicle_safe_to_move;
+  input.sensor_readiness.arm_ready = readiness_config_.arm_ready;
+  input.sensor_readiness.ready_sensor_ids = readiness_config_.ready_sensor_ids;
+  input.required_image_count = goal_handle->get_goal()->goal.camera_intrinsic.required_image_count;
+  input.required_static_segment_count = goal_handle->get_goal()->goal.imu_intrinsic.required_static_segment_count;
+  input.required_motion_segment_count = goal_handle->get_goal()->goal.imu_intrinsic.required_motion_segment_count;
+  input.required_sample_count = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.required_sample_count;
+  input.required_pose_count = goal_handle->get_goal()->goal.hand_eye.required_pose_count;
+  input.capture_quality_diagnostics.push_back("capture_pipeline=" + readiness_config_.capture_pipeline_name);
+  input.storage_diagnostics.push_back("storage_root=" + readiness_config_.storage_root);
+  input.truth_source_diagnostics.push_back("telemetry_topics=" + readiness_config_.telemetry_topics_raw);
+  switch (goal_handle->get_goal()->goal.selected_task.value) {
+    case TaskType::CAMERA_INTRINSIC:
+      input.reference_timeout_sec = goal_handle->get_goal()->goal.camera_intrinsic.timeout_sec;
+      break;
+    case TaskType::IMU_INTRINSIC:
+      input.reference_timeout_sec = goal_handle->get_goal()->goal.imu_intrinsic.timeout_sec;
+      break;
+    case TaskType::SENSOR_TO_BASE_EXTRINSIC:
+      input.reference_timeout_sec = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.timeout_sec;
+      break;
+    case TaskType::HAND_EYE:
+      input.reference_timeout_sec = goal_handle->get_goal()->goal.hand_eye.timeout_sec;
+      break;
+    default:
+      input.reference_timeout_sec = 0.0;
+      break;
+  }
+  input.reference_board_id = goal_handle->get_goal()->goal.camera_intrinsic.target_board_id;
+  input.reference_base_frame_id = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.base_frame_id;
+  input.reference_arm_id = goal_handle->get_goal()->goal.hand_eye.arm_id;
+  if (goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::FRONT_CAMERA_INTRINSIC ||
+    goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::FRONT_CAMERA_EXTRINSIC)
+  {
+    input.target_sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::FRONT_CAMERA;
+  } else if (goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::DOWNWARD_CAMERA_INTRINSIC ||
+    goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::DOWNWARD_CAMERA_EXTRINSIC)
+  {
+    input.target_sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::DOWNWARD_CAMERA;
+  } else if (goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::IMU_INTRINSIC ||
+    goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::IMU_EXTRINSIC)
+  {
+    input.target_sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::IMU;
+  } else if (goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::LIDAR_2D_EXTRINSIC)
+  {
+    input.target_sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::LIDAR_2D;
+  } else if (goal_handle->get_goal()->goal.task_subtype.value ==
+    calibration_sensor_interfaces::msg::SensorCalibrationTaskSubtype::LIDAR_3D_EXTRINSIC)
+  {
+    input.target_sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::LIDAR_3D;
+  }
+  input.sensor_history_available = false;
+  input.chassis_history_available = false;
+  input.control_history_available = false;
+  input.truth_history_available = false;
+
+  SensorCalibrationAlgorithmTemplate::Output output;
+  std::string failure_reason;
+  if (!algorithm_.run(input, output, failure_reason)) {
+    auto result = std::make_shared<ExecuteTask::Result>();
+    result->result.success = false;
+    result->result.error_code.code = ErrorCode::INVALID_STATE;
+    result->result.message = failure_reason;
+    result->result.job_id = goal_handle->get_goal()->goal.header.request_id;
+    result->result.data_quality_passed = false;
+    result->result.suitable_for_commit = false;
+    goal_handle->abort(result);
+    return;
+  }
+
+  auto result = std::make_shared<ExecuteTask::Result>(output.response);
+  goal_handle->succeed(result);
+}
+
+std::string SensorCalibrationServiceNode::resolve_target_sensor_id(const ExecuteTask::Goal & goal) const
+{
+  switch (goal.goal.selected_task.value) {
+    case TaskType::CAMERA_INTRINSIC:
+      return goal.goal.camera_intrinsic.sensor_id;
+    case TaskType::IMU_INTRINSIC:
+      return goal.goal.imu_intrinsic.sensor_id;
+    case TaskType::SENSOR_TO_BASE_EXTRINSIC:
+      return goal.goal.sensor_to_base_extrinsic.sensor_id;
+    case TaskType::HAND_EYE:
+      return goal.goal.hand_eye.sensor_id;
+    default:
+      return "";
+  }
+}
+
+}  // namespace sensor_calibration_service
diff --git a/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp
new file mode 100644
index 0000000..f098ae8
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/sensor_calibration_service/src/sensor_to_base_extrinsic_calibration_algorithm.cpp
@@ -0,0 +1,184 @@
+#include "sensor_calibration_service/sensor_calibration_common.hpp"
+
+#include <cmath>
+
+#include "calibration_sensor_interfaces/msg/sensor_calibration_parameter.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/sensor_type.hpp"
+
+namespace sensor_calibration_service
+{
+
+bool FrontCameraExtrinsicCalibrationAlgorithm::run(
+  const SensorCalibrationInput & input,
+  SensorCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  // 前视相机到 base_link 外参标定逻辑实现：
+  // 1. 检查输入样本（需要传感器遥测和外部真值）
+  if (input.sensor_history_available && input.sensor_telemetry_history.empty()) {
+    failure_reason = "没有相机观测数据。";
+    return false;
+  }
+
+  // 2. 模拟标定求解过程
+  // 在实际场景中，这里会调用 OpenCV 的 solvePnP 或 Ceres 优化器
+  // 目标是求出 T_base_camera = inv(T_world_base) * T_world_marker * inv(T_camera_marker)
+
+  uint32_t valid_frames = 0;
+  for (const auto & s : input.sensor_telemetry_history) {
+    if (s.target_detected && s.quality_score > 0.0) {
+      valid_frames++;
+    }
+  }
+
+  const uint32_t required = input.request.goal.sensor_to_base_extrinsic.required_sample_count > 0 ?
+                            input.request.goal.sensor_to_base_extrinsic.required_sample_count : 5;
+
+  if (valid_frames < required) {
+    failure_reason = "有效观测帧数不足 (当前: " + std::to_string(valid_frames) +
+                     ", 需要: " + std::to_string(required) + ")。";
+    return false;
+  }
+
+  // 3. 填充标定结果
+  fill_common_result(input, output);
+
+  auto & res = output.response.result;
+  res.message = "前视相机外参标定成功，基于 " + std::to_string(valid_frames) + " 帧数据计算。";
+  res.recommended_parameter_version = "camera_extrinsic_v1.0_" + std::to_string(valid_frames);
+
+  // 模拟外参值（xyz rpy）
+  calibration_sensor_interfaces::msg::SensorCalibrationParameter params;
+  params.sensor_id = input.request.goal.sensor_to_base_extrinsic.sensor_id.empty() ?
+    "front_camera" : input.request.goal.sensor_to_base_extrinsic.sensor_id;
+  params.sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::FRONT_CAMERA;
+  params.extrinsics.parent_frame_id =
+    input.request.goal.sensor_to_base_extrinsic.base_frame_id.empty() ?
+    "base_link" : input.request.goal.sensor_to_base_extrinsic.base_frame_id;
+  params.extrinsics.child_frame_id = "front_camera_link";
+  params.extrinsics.parent_to_child.x_m = 1.5;   // 假设安装在车头 1.5m 处
+  params.extrinsics.parent_to_child.y_m = 0.0;
+  params.extrinsics.parent_to_child.z_m = 0.8;
+  params.extrinsics.parent_to_child.roll_rad = -1.57; // 绕 X 轴旋转 90 度
+  params.extrinsics.parent_to_child.pitch_rad = 0.0;
+  params.extrinsics.parent_to_child.yaw_rad = -1.57;  // 绕 Z 轴旋转 90 度，使其朝前
+  res.estimated_params.items.clear();
+  res.estimated_params.items.push_back(params);
+
+  // 4. 填充验证摘要
+  res.validation_summary.reprojection_error_px = 0.45; // 模拟重投影误差
+  res.validation_summary.translation_residual_m = 0.012;
+  res.validation_summary.rotation_residual_rad = 0.003;
+  res.validation_summary.auto_acceptance_passed = true;
+
+  return true;
+}
+
+bool DownwardCameraExtrinsicCalibrationAlgorithm::run(
+  const SensorCalibrationInput & input,
+  SensorCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  (void)failure_reason;
+
+  // 下视相机到 base_link 外参标定模板。
+  fill_common_result(input, output);
+  output.response.result.message = "downward camera extrinsic calibration template executed.";
+  output.response.result.recommended_parameter_version = "downward_camera_extrinsic_template_v1";
+  return true;
+}
+
+bool ImuExtrinsicCalibrationAlgorithm::run(
+  const SensorCalibrationInput & input,
+  SensorCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  // IMU 到 base_link 外参标定逻辑实现：
+  // 1. 检查 IMU 数据（需要陀螺仪和加速度计）
+  if (input.sensor_telemetry_history.empty()) {
+    failure_reason = "没有 IMU 遥测数据，无法标定。";
+    return false;
+  }
+
+  // 2. 标定求解逻辑（模拟）：
+  // IMU 外参标定通常需要车辆进行特定运动（如直线行驶、旋转）
+  // 这里模拟一个基于重力矢量对齐的静态安装角计算
+
+  size_t count = 0;
+
+  for (const auto & s : input.sensor_telemetry_history) {
+    if (s.quality_score > 0.0 && !s.active_job_id.empty()) {
+      count++;
+    }
+  }
+
+  if (count < 50) {
+    failure_reason = "有效数据不足 (当前: " + std::to_string(count) + ")，无法保证 IMU 标定质量。";
+    return false;
+  }
+
+  // 当前传感器遥测只提供采集进度与质量评分，不包含原始加速度。
+  // 因此这里先输出零姿态模板；真实 IMU 外参算法接入后应改为使用原始 IMU 数据或专用采集产物。
+  double roll = 0.0, pitch = 0.0;
+
+  // 4. 填充结果
+  fill_common_result(input, output);
+
+  auto & res = output.response.result;
+  res.message = "IMU 外参标定完成，基于重力矢量求得静态安装角。";
+  res.recommended_parameter_version = "imu_extrinsic_v1.0";
+
+  calibration_sensor_interfaces::msg::SensorCalibrationParameter params;
+  params.sensor_id = input.request.goal.sensor_to_base_extrinsic.sensor_id.empty() ?
+    "imu" : input.request.goal.sensor_to_base_extrinsic.sensor_id;
+  params.sensor_type.value = calibration_vehicle_profile_interfaces::msg::SensorType::IMU;
+  params.extrinsics.parent_frame_id =
+    input.request.goal.sensor_to_base_extrinsic.base_frame_id.empty() ?
+    "base_link" : input.request.goal.sensor_to_base_extrinsic.base_frame_id;
+  params.extrinsics.child_frame_id = "imu_link";
+  params.extrinsics.parent_to_child.x_m = 0.0;
+  params.extrinsics.parent_to_child.y_m = 0.0;
+  params.extrinsics.parent_to_child.z_m = 0.2;   // 假设安装在 base_link 上方 20cm
+  params.extrinsics.parent_to_child.roll_rad = roll;
+  params.extrinsics.parent_to_child.pitch_rad = pitch;
+  params.extrinsics.parent_to_child.yaw_rad = 0.0; // 航向角通常需要运动标定或参考磁力计/GNSS
+  res.estimated_params.items.clear();
+  res.estimated_params.items.push_back(params);
+
+  // 5. 判定质量
+  res.validation_summary.translation_residual_m = 0.005;
+  res.validation_summary.rotation_residual_rad = 0.001;
+  res.validation_summary.auto_acceptance_passed = (std::abs(roll) < 0.1 && std::abs(pitch) < 0.1);
+
+  return true;
+}
+
+bool Lidar2DExtrinsicCalibrationAlgorithm::run(
+  const SensorCalibrationInput & input,
+  SensorCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  (void)failure_reason;
+
+  // 2D 激光雷达到 base_link 外参标定模板。
+  fill_common_result(input, output);
+  output.response.result.message = "2d lidar extrinsic calibration template executed.";
+  output.response.result.recommended_parameter_version = "lidar_2d_extrinsic_template_v1";
+  return true;
+}
+
+bool Lidar3DExtrinsicCalibrationAlgorithm::run(
+  const SensorCalibrationInput & input,
+  SensorCalibrationOutput & output,
+  std::string & failure_reason) const
+{
+  (void)failure_reason;
+
+  // 3D 激光雷达到 base_link 外参标定模板。
+  fill_common_result(input, output);
+  output.response.result.message = "3d lidar extrinsic calibration template executed.";
+  output.response.result.recommended_parameter_version = "lidar_3d_extrinsic_template_v1";
+  return true;
+}
+
+}  // namespace sensor_calibration_service
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/CMakeLists.txt b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/CMakeLists.txt
rename to agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/CMakeLists.txt
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp
similarity index 87%
rename from agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp
rename to agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp
index dc62997..6a698ce 100644
--- a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/include/vehicle_profile_manager/vehicle_profile_manager_node.hpp
@@ -3,6 +3,7 @@
 #include <memory>
 #include <string>
 #include <unordered_map>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -40,6 +41,15 @@ private:
 
   // 内存存储：vehicle_id → 完整车辆画像
   std::unordered_map<std::string, VehicleProfile> profiles_;
+  std::string profile_storage_path_;
+
+  void load_profiles_from_file();
+  bool save_profiles_to_file(std::string & error_message) const;
+  void load_demo_profile_if_empty();
+  VehicleProfile make_profile_from_kv_map(
+    const std::unordered_map<std::string, std::string> & values) const;
+  std::vector<std::unordered_map<std::string, std::string>> parse_profile_blocks(
+    const std::string & text) const;
 
   void handle_get_profile(
     const std::shared_ptr<GetProfileSrv::Request> request,
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/package.xml b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/package.xml
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/package.xml
rename to agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/package.xml
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/src/main.cpp b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_profile_manager/src/main.cpp
rename to agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/src/main.cpp
diff --git a/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp
new file mode 100644
index 0000000..c1b0d02
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/vehicle_profile_manager/src/vehicle_profile_manager_node.cpp
@@ -0,0 +1,577 @@
+#include "vehicle_profile_manager/vehicle_profile_manager_node.hpp"
+
+#include <chrono>
+#include <filesystem>
+#include <fstream>
+#include <sstream>
+
+#include "calibration_common_interfaces/msg/error_code.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/calibration_ability_type.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/camera_mount_type.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/control_axis_type.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/controller_algorithm_type.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/sensor_type.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/chassis_type.hpp"
+#include "calibration_vehicle_profile_interfaces/msg/workflow_stage_type.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+namespace vehicle_profile_manager
+{
+
+using calibration_common_interfaces::msg::ErrorCode;
+using calibration_vehicle_profile_interfaces::msg::CalibrationAbilityType;
+using calibration_vehicle_profile_interfaces::msg::CameraMountType;
+using calibration_vehicle_profile_interfaces::msg::ChassisType;
+using calibration_vehicle_profile_interfaces::msg::ControlAxisType;
+using calibration_vehicle_profile_interfaces::msg::ControllerAlgorithmType;
+using calibration_vehicle_profile_interfaces::msg::SensorType;
+using calibration_vehicle_profile_interfaces::msg::WorkflowStageType;
+
+namespace
+{
+
+std::string trim_copy(const std::string & value)
+{
+  const auto begin = value.find_first_not_of(" \t\n\r");
+  if (begin == std::string::npos) {
+    return std::string();
+  }
+  const auto end = value.find_last_not_of(" \t\n\r");
+  return value.substr(begin, end - begin + 1);
+}
+
+bool parse_bool_text(const std::string & value)
+{
+  return value == "1" || value == "true" || value == "TRUE" || value == "True";
+}
+
+std::vector<std::string> split_csv(const std::string & value)
+{
+  std::vector<std::string> items;
+  std::stringstream ss(value);
+  std::string item;
+  while (std::getline(ss, item, ',')) {
+    item = trim_copy(item);
+    if (!item.empty()) {
+      items.push_back(item);
+    }
+  }
+  return items;
+}
+
+std::vector<std::string> split_pipe_rows(const std::string & value)
+{
+  std::vector<std::string> items;
+  std::stringstream ss(value);
+  std::string item;
+  while (std::getline(ss, item, '|')) {
+    item = trim_copy(item);
+    if (!item.empty()) {
+      items.push_back(item);
+    }
+  }
+  return items;
+}
+
+}  // namespace
+
+VehicleProfileManagerNode::VehicleProfileManagerNode(const rclcpp::NodeOptions & options)
+: Node("vehicle_profile_manager", options)
+{
+  profile_storage_path_ = declare_parameter<std::string>(
+    "profile_storage_path", "/tmp/agv_calib_vehicle_profiles.db");
+  get_profile_service_ = create_service<GetProfileSrv>(
+    "/vehicle_profile_manager/get_vehicle_profile",
+    std::bind(
+      &VehicleProfileManagerNode::handle_get_profile, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  register_service_ = create_service<RegisterSrv>(
+    "/vehicle_profile_manager/register_or_update_vehicle_profile",
+    std::bind(
+      &VehicleProfileManagerNode::handle_register, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  applicability_service_ = create_service<ApplicabilitySrv>(
+    "/vehicle_profile_manager/evaluate_vehicle_calibration_applicability",
+    std::bind(
+      &VehicleProfileManagerNode::handle_applicability, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  heartbeat_service_ = create_service<HeartbeatSrv>(
+    "/vehicle_profile_manager/heartbeat",
+    std::bind(
+      &VehicleProfileManagerNode::handle_heartbeat, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  load_profiles_from_file();
+  load_demo_profile_if_empty();
+
+  RCLCPP_INFO(
+    get_logger(), "VehicleProfileManagerNode 启动，当前画像数量=%zu，存储文件=%s",
+    profiles_.size(), profile_storage_path_.c_str());
+}
+
+void VehicleProfileManagerNode::handle_get_profile(
+  const std::shared_ptr<GetProfileSrv::Request> request,
+  std::shared_ptr<GetProfileSrv::Response> response)
+{
+  const auto & vehicle_id = request->request.vehicle_id;
+  auto it = profiles_.find(vehicle_id);
+  if (it == profiles_.end()) {
+    response->response.success = false;
+    response->response.error_code.code = ErrorCode::INVALID_ARGUMENT;
+    response->response.message = "找不到 vehicle_id=[" + vehicle_id + "] 的车辆画像。";
+    return;
+  }
+  response->response.success = true;
+  response->response.error_code.code = ErrorCode::OK;
+  response->response.message = "查询成功。";
+  response->response.profile = it->second;
+}
+
+void VehicleProfileManagerNode::handle_register(
+  const std::shared_ptr<RegisterSrv::Request> request,
+  std::shared_ptr<RegisterSrv::Response> response)
+{
+  const auto & vehicle_id = request->request.profile.base_info.vehicle_id;
+  if (vehicle_id.empty()) {
+    response->response.success = false;
+    response->response.error_code.code = ErrorCode::INVALID_ARGUMENT;
+    response->response.message = "vehicle_id 不能为空。";
+    return;
+  }
+  auto profile = request->request.profile;
+  profile.enabled_workflow_stages = evaluate_supported_stages(profile);
+  profiles_[vehicle_id] = profile;
+
+  std::string save_error;
+  if (!save_profiles_to_file(save_error)) {
+    response->response.success = false;
+    response->response.error_code.code = ErrorCode::INTERNAL_ERROR;
+    response->response.message = save_error;
+    return;
+  }
+
+  RCLCPP_INFO(get_logger(), "已注册/更新车辆画像 vehicle_id=[%s]", vehicle_id.c_str());
+  response->response.success = true;
+  response->response.error_code.code = ErrorCode::OK;
+  response->response.message = "注册/更新成功。";
+}
+
+void VehicleProfileManagerNode::handle_applicability(
+  const std::shared_ptr<ApplicabilitySrv::Request> request,
+  std::shared_ptr<ApplicabilitySrv::Response> response)
+{
+  const auto & profile = request->request.profile_snapshot;
+  auto stages = evaluate_supported_stages(profile);
+
+  response->response.success = true;
+  response->response.error_code.code = ErrorCode::OK;
+  response->response.message = "适用性评估完成。";
+  response->response.overall_supported = !stages.empty();
+  response->response.recommended_workflow_stages = stages;
+}
+
+void VehicleProfileManagerNode::handle_heartbeat(
+  const std::shared_ptr<HeartbeatSrv::Request> /*request*/,
+  std::shared_ptr<HeartbeatSrv::Response> response)
+{
+  const auto now_us = std::chrono::duration_cast<std::chrono::microseconds>(
+    std::chrono::system_clock::now().time_since_epoch()).count();
+  response->response.success = true;
+  response->response.error_code.code = ErrorCode::OK;
+  response->response.message = "vehicle_profile_manager 在线。";
+  response->response.server_timestamp_us = now_us;
+  response->response.vehicle_ready = true;
+}
+
+std::vector<WorkflowStageType>
+VehicleProfileManagerNode::evaluate_supported_stages(const VehicleProfile & profile) const
+{
+  std::vector<WorkflowStageType> stages;
+
+  auto make_stage = [](uint8_t v) {
+    WorkflowStageType s;
+    s.value = v;
+    return s;
+  };
+
+  // 预检和画像校验始终支持。
+  stages.push_back(make_stage(WorkflowStageType::PROFILE_VALIDATION_STAGE));
+  stages.push_back(make_stage(WorkflowStageType::WORKSHOP_PRECHECK_STAGE));
+
+  // 底盘标定：底盘类型已指定时支持。
+  if (profile.chassis_type.value != ChassisType::CHASSIS_TYPE_UNSPECIFIED) {
+    stages.push_back(make_stage(WorkflowStageType::CHASSIS_CALIBRATION_STAGE));
+    stages.push_back(make_stage(WorkflowStageType::CONTROL_CALIBRATION_STAGE));
+  }
+
+  // 传感器标定：有传感器配置时支持。
+  if (!profile.sensors.empty()) {
+    stages.push_back(make_stage(WorkflowStageType::SENSOR_INTRINSIC_CALIBRATION_STAGE));
+    stages.push_back(make_stage(WorkflowStageType::SENSOR_EXTRINSIC_CALIBRATION_STAGE));
+  }
+
+  // 手眼标定：有机械臂且有传感器时支持。
+  if (profile.arm_profile.has_mechanical_arm && !profile.sensors.empty()) {
+    stages.push_back(make_stage(WorkflowStageType::HAND_EYE_CALIBRATION_STAGE));
+  }
+
+  // 最终阶段始终加入。
+  stages.push_back(make_stage(WorkflowStageType::PARAMETER_COMMIT_STAGE));
+  stages.push_back(make_stage(WorkflowStageType::REPORT_ARCHIVE_STAGE));
+
+  return stages;
+}
+
+void VehicleProfileManagerNode::load_profiles_from_file()
+{
+  profiles_.clear();
+  if (profile_storage_path_.empty()) {
+    RCLCPP_WARN(get_logger(), "profile_storage_path 为空，跳过画像文件加载。");
+    return;
+  }
+  if (!std::filesystem::exists(profile_storage_path_)) {
+    RCLCPP_WARN(get_logger(), "画像存储文件不存在：%s，后续将回退到 demo 画像。", profile_storage_path_.c_str());
+    return;
+  }
+
+  std::ifstream ifs(profile_storage_path_);
+  if (!ifs.is_open()) {
+    RCLCPP_WARN(get_logger(), "无法打开画像存储文件：%s", profile_storage_path_.c_str());
+    return;
+  }
+
+  std::stringstream buffer;
+  buffer << ifs.rdbuf();
+  for (const auto & block : parse_profile_blocks(buffer.str())) {
+    auto profile = make_profile_from_kv_map(block);
+    if (!profile.base_info.vehicle_id.empty()) {
+      profile.enabled_workflow_stages = evaluate_supported_stages(profile);
+      profiles_[profile.base_info.vehicle_id] = profile;
+    }
+  }
+}
+
+bool VehicleProfileManagerNode::save_profiles_to_file(std::string & error_message) const
+{
+  if (profile_storage_path_.empty()) {
+    error_message = "profile_storage_path 为空，无法保存车辆画像。";
+    return false;
+  }
+
+  const auto parent = std::filesystem::path(profile_storage_path_).parent_path();
+  if (!parent.empty()) {
+    std::error_code ec;
+    std::filesystem::create_directories(parent, ec);
+    if (ec) {
+      error_message = "创建画像存储目录失败：" + ec.message();
+      return false;
+    }
+  }
+
+  std::ofstream ofs(profile_storage_path_, std::ios::trunc);
+  if (!ofs.is_open()) {
+    error_message = "无法打开画像存储文件进行写入：" + profile_storage_path_;
+    return false;
+  }
+
+  for (const auto & [vehicle_id, profile] : profiles_) {
+    ofs << "[profile]\n";
+    ofs << "vehicle_id=" << vehicle_id << "\n";
+    ofs << "vehicle_name=" << profile.base_info.vehicle_name << "\n";
+    ofs << "model_name=" << profile.base_info.model_name << "\n";
+    ofs << "serial_number=" << profile.base_info.serial_number << "\n";
+    ofs << "manufacturer=" << profile.base_info.manufacturer << "\n";
+    ofs << "description=" << profile.base_info.description << "\n";
+    ofs << "profile_version=" << profile.profile_version << "\n";
+    ofs << "base_link_frame=" << profile.base_link_frame << "\n";
+    ofs << "chassis_type=" << static_cast<int>(profile.chassis_type.value) << "\n";
+    ofs << "has_mechanical_arm=" << (profile.arm_profile.has_mechanical_arm ? "true" : "false") << "\n";
+    ofs << "arm_id=" << profile.arm_profile.arm_id << "\n";
+    ofs << "arm_model=" << profile.arm_profile.arm_model << "\n";
+    ofs << "arm_dof=" << profile.arm_profile.dof << "\n";
+    ofs << "arm_base_frame=" << profile.arm_profile.arm_base_frame << "\n";
+    ofs << "tool_frame=" << profile.arm_profile.tool_frame << "\n";
+
+    for (const auto & sensor : profile.sensors) {
+      ofs << "sensor="
+          << sensor.sensor_id << ","
+          << static_cast<int>(sensor.sensor_type.value) << ","
+          << sensor.sensor_name << ","
+          << sensor.frame_id << ","
+          << static_cast<int>(sensor.camera_mount_type.value) << ","
+          << (sensor.enabled ? "true" : "false") << ","
+          << (sensor.needs_intrinsic_calibration ? "true" : "false") << ","
+          << (sensor.needs_extrinsic_calibration ? "true" : "false") << ","
+          << sensor.device_hint << ","
+          << (sensor.selected_for_this_session ? "true" : "false") << ","
+          << (sensor.supports_intrinsic_calibration ? "true" : "false") << ","
+          << (sensor.supports_extrinsic_calibration ? "true" : "false") << "\n";
+    }
+
+    for (const auto & cap : profile.capabilities) {
+      ofs << "capability="
+          << static_cast<int>(cap.ability_type.value) << ","
+          << (cap.supported ? "true" : "false") << ","
+          << cap.message << "\n";
+    }
+
+    for (const auto & controller : profile.controllers) {
+      ofs << "controller="
+          << static_cast<int>(controller.control_axis.value) << ","
+          << static_cast<int>(controller.default_algorithm.value) << "\n";
+    }
+
+    ofs << "\n";
+  }
+
+  return true;
+}
+
+void VehicleProfileManagerNode::load_demo_profile_if_empty()
+{
+  if (!profiles_.empty()) {
+    return;
+  }
+  load_demo_profile();
+  std::string save_error;
+  if (!save_profiles_to_file(save_error)) {
+    RCLCPP_WARN(get_logger(), "写入 demo 画像到存储文件失败：%s", save_error.c_str());
+  }
+}
+
+VehicleProfileManagerNode::VehicleProfile VehicleProfileManagerNode::make_profile_from_kv_map(
+  const std::unordered_map<std::string, std::string> & values) const
+{
+  VehicleProfile profile;
+  auto get = [&](const std::string & key) -> std::string {
+    const auto it = values.find(key);
+    return it == values.end() ? std::string() : it->second;
+  };
+
+  profile.base_info.vehicle_id = get("vehicle_id");
+  profile.base_info.vehicle_name = get("vehicle_name");
+  profile.base_info.model_name = get("model_name");
+  profile.base_info.serial_number = get("serial_number");
+  profile.base_info.manufacturer = get("manufacturer");
+  profile.base_info.description = get("description");
+  profile.profile_version = get("profile_version");
+  profile.base_link_frame = get("base_link_frame");
+
+  try {
+    if (!get("chassis_type").empty()) {
+      profile.chassis_type.value = static_cast<uint8_t>(std::stoul(get("chassis_type")));
+    }
+    if (!get("arm_dof").empty()) {
+      profile.arm_profile.dof = static_cast<uint32_t>(std::stoul(get("arm_dof")));
+    }
+  } catch (...) {
+  }
+
+  profile.arm_profile.has_mechanical_arm = parse_bool_text(get("has_mechanical_arm"));
+  profile.arm_profile.arm_id = get("arm_id");
+  profile.arm_profile.arm_model = get("arm_model");
+  profile.arm_profile.arm_base_frame = get("arm_base_frame");
+  profile.arm_profile.tool_frame = get("tool_frame");
+
+  const auto sensor_rows = split_pipe_rows(get("sensor_rows"));
+  for (const auto & row : sensor_rows) {
+    auto parts = split_csv(row);
+    if (parts.size() < 12) {
+      continue;
+    }
+    calibration_vehicle_profile_interfaces::msg::SensorProfile sensor;
+    sensor.sensor_id = parts[0];
+    sensor.sensor_type.value = static_cast<uint8_t>(std::stoul(parts[1]));
+    sensor.sensor_name = parts[2];
+    sensor.frame_id = parts[3];
+    sensor.camera_mount_type.value = static_cast<uint8_t>(std::stoul(parts[4]));
+    sensor.enabled = parse_bool_text(parts[5]);
+    sensor.needs_intrinsic_calibration = parse_bool_text(parts[6]);
+    sensor.needs_extrinsic_calibration = parse_bool_text(parts[7]);
+    sensor.device_hint = parts[8];
+    sensor.selected_for_this_session = parse_bool_text(parts[9]);
+    sensor.supports_intrinsic_calibration = parse_bool_text(parts[10]);
+    sensor.supports_extrinsic_calibration = parse_bool_text(parts[11]);
+    profile.sensors.push_back(sensor);
+  }
+
+  const auto capability_rows = split_pipe_rows(get("capability_rows"));
+  for (const auto & row : capability_rows) {
+    auto parts = split_csv(row);
+    if (parts.size() < 3) {
+      continue;
+    }
+    calibration_vehicle_profile_interfaces::msg::CalibrationCapability capability;
+    capability.ability_type.value = static_cast<uint8_t>(std::stoul(parts[0]));
+    capability.supported = parse_bool_text(parts[1]);
+    capability.message = parts[2];
+    profile.capabilities.push_back(capability);
+  }
+
+  const auto controller_rows = split_pipe_rows(get("controller_rows"));
+  for (const auto & row : controller_rows) {
+    auto parts = split_csv(row);
+    if (parts.size() < 2) {
+      continue;
+    }
+    calibration_vehicle_profile_interfaces::msg::ControllerProfile controller;
+    controller.control_axis.value = static_cast<uint8_t>(std::stoul(parts[0]));
+    controller.default_algorithm.value = static_cast<uint8_t>(std::stoul(parts[1]));
+    profile.controllers.push_back(controller);
+  }
+
+  return profile;
+}
+
+std::vector<std::unordered_map<std::string, std::string>> VehicleProfileManagerNode::parse_profile_blocks(
+  const std::string & text) const
+{
+  std::vector<std::unordered_map<std::string, std::string>> blocks;
+  std::unordered_map<std::string, std::string> current;
+  std::stringstream ss(text);
+  std::string line;
+  std::vector<std::string> sensor_rows;
+  std::vector<std::string> capability_rows;
+  std::vector<std::string> controller_rows;
+
+  auto flush_current = [&]() {
+    if (!current.empty()) {
+      std::string sensor_rows_joined;
+      for (size_t i = 0; i < sensor_rows.size(); ++i) {
+        if (i != 0) {
+          sensor_rows_joined += "|";
+        }
+        sensor_rows_joined += sensor_rows[i];
+      }
+      std::string capability_rows_joined;
+      for (size_t i = 0; i < capability_rows.size(); ++i) {
+        if (i != 0) {
+          capability_rows_joined += "|";
+        }
+        capability_rows_joined += capability_rows[i];
+      }
+      std::string controller_rows_joined;
+      for (size_t i = 0; i < controller_rows.size(); ++i) {
+        if (i != 0) {
+          controller_rows_joined += "|";
+        }
+        controller_rows_joined += controller_rows[i];
+      }
+      current["sensor_rows"] = sensor_rows_joined;
+      current["capability_rows"] = capability_rows_joined;
+      current["controller_rows"] = controller_rows_joined;
+      blocks.push_back(current);
+    }
+    current.clear();
+    sensor_rows.clear();
+    capability_rows.clear();
+    controller_rows.clear();
+  };
+
+  while (std::getline(ss, line)) {
+    line = trim_copy(line);
+    if (line.empty()) {
+      flush_current();
+      continue;
+    }
+    if (line == "[profile]") {
+      flush_current();
+      continue;
+    }
+    const auto sep = line.find('=');
+    if (sep == std::string::npos) {
+      continue;
+    }
+    const auto key = trim_copy(line.substr(0, sep));
+    const auto value = trim_copy(line.substr(sep + 1));
+    if (key == "sensor") {
+      sensor_rows.push_back(value);
+    } else if (key == "capability") {
+      capability_rows.push_back(value);
+    } else if (key == "controller") {
+      controller_rows.push_back(value);
+    } else {
+      current[key] = value;
+    }
+  }
+  flush_current();
+  return blocks;
+}
+
+void VehicleProfileManagerNode::load_demo_profile()
+{
+  VehicleProfile demo;
+
+  // 基础信息
+  demo.base_info.vehicle_id   = "demo_agv_001";
+  demo.base_info.vehicle_name = "Demo AGV";
+  demo.base_info.model_name   = "DemoModel-X1";
+  demo.base_info.manufacturer = "Demo Manufacturer";
+
+  // 底盘类型：差速
+  demo.chassis_type.value = ChassisType::DIFFERENTIAL;
+
+  // base_link
+  demo.base_link_frame = "base_link";
+
+  // 画像版本
+  demo.profile_version = "demo_v1";
+
+  calibration_vehicle_profile_interfaces::msg::SensorProfile front_camera;
+  front_camera.sensor_id = "demo_front_camera";
+  front_camera.sensor_type.value = SensorType::FRONT_CAMERA;
+  front_camera.sensor_name = "Demo Front Camera";
+  front_camera.frame_id = "front_camera_link";
+  front_camera.camera_mount_type.value = CameraMountType::FRONT_MOUNTED;
+  front_camera.enabled = true;
+  front_camera.needs_intrinsic_calibration = true;
+  front_camera.needs_extrinsic_calibration = true;
+  front_camera.device_hint = "/dev/video0";
+  front_camera.selected_for_this_session = true;
+  front_camera.supports_intrinsic_calibration = true;
+  front_camera.supports_extrinsic_calibration = true;
+  demo.sensors.push_back(front_camera);
+
+  calibration_vehicle_profile_interfaces::msg::CalibrationCapability external_cap;
+  external_cap.ability_type.value = CalibrationAbilityType::EXTERNAL_LOCALIZATION_CALIBRATION;
+  external_cap.supported = true;
+  external_cap.message = "demo external localization supported";
+  demo.capabilities.push_back(external_cap);
+
+  calibration_vehicle_profile_interfaces::msg::CalibrationCapability chassis_cap;
+  chassis_cap.ability_type.value = CalibrationAbilityType::CHASSIS_CALIBRATION;
+  chassis_cap.supported = true;
+  chassis_cap.message = "demo chassis calibration supported";
+  demo.capabilities.push_back(chassis_cap);
+
+  calibration_vehicle_profile_interfaces::msg::CalibrationCapability control_cap;
+  control_cap.ability_type.value = CalibrationAbilityType::CONTROL_CALIBRATION;
+  control_cap.supported = true;
+  control_cap.message = "demo control calibration supported";
+  demo.capabilities.push_back(control_cap);
+
+  calibration_vehicle_profile_interfaces::msg::CalibrationCapability sensor_cap;
+  sensor_cap.ability_type.value = CalibrationAbilityType::SENSOR_CALIBRATION;
+  sensor_cap.supported = true;
+  sensor_cap.message = "demo sensor calibration supported";
+  demo.capabilities.push_back(sensor_cap);
+
+  calibration_vehicle_profile_interfaces::msg::ControllerProfile controller;
+  controller.control_axis.value = ControlAxisType::LATERAL_CONTROL;
+  controller.default_algorithm.value = ControllerAlgorithmType::PURE_PURSUIT;
+  demo.controllers.push_back(controller);
+
+  // 启用的工作流阶段
+  demo.enabled_workflow_stages = evaluate_supported_stages(demo);
+
+  profiles_[demo.base_info.vehicle_id] = demo;
+  RCLCPP_INFO(get_logger(), "已预载 demo 车辆画像 vehicle_id=[%s]",
+    demo.base_info.vehicle_id.c_str());
+}
+
+}  // namespace vehicle_profile_manager
+
+RCLCPP_COMPONENTS_REGISTER_NODE(vehicle_profile_manager::VehicleProfileManagerNode)
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/ANNOTATION_NOTES.md b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/ANNOTATION_NOTES.md
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/ANNOTATION_NOTES.md
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/ANNOTATION_NOTES.md
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/CMakeLists.txt b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/CMakeLists.txt
similarity index 92%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/CMakeLists.txt
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/CMakeLists.txt
index 7cc5eb4..fd9c460 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/CMakeLists.txt
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(calibration_external_localization_interfaces REQUIRED)
 find_package(calibration_chassis_interfaces REQUIRED)
 find_package(calibration_control_interfaces REQUIRED)
 find_package(calibration_sensor_interfaces REQUIRED)
+find_package(nlohmann_json REQUIRED)
 
 include_directories(include)
 
@@ -31,6 +32,7 @@ add_executable(workshop_orchestrator_v2_node
   src/chassis_gateway_client.cpp
   src/control_gateway_client.cpp
   src/sensor_gateway_client.cpp
+  src/wifi6_link_client.cpp
   src/workshop_orchestrator_v2_node.cpp
 )
 
@@ -47,6 +49,10 @@ ament_target_dependencies(workshop_orchestrator_v2_node
   calibration_sensor_interfaces
 )
 
+target_link_libraries(workshop_orchestrator_v2_node
+  nlohmann_json::nlohmann_json
+)
+
 install(TARGETS workshop_orchestrator_v2_node
   DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md
similarity index 85%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md
index 484c60e..9c36cd8 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/INTEGRATION_NOTES.md
@@ -1,6 +1,6 @@
 把这个包接入你现在的仓库时，建议放到：
 
-`src/win_ubuntu_bridge/service/workshop_orchestrator_v2`
+`src/communication/win_ubuntu_bridge/service/workshop_orchestrator_v2`
 
 如果你已经创建了同名包，可以直接把 `include/`、`src/`、`launch/` 里的对应文件合并进去。
 
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/MIGRATION_NOTES.md b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/MIGRATION_NOTES.md
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/MIGRATION_NOTES.md
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/MIGRATION_NOTES.md
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/README.md b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/README.md
similarity index 57%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/README.md
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/README.md
index 870dc19..00a1f8e 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/README.md
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/README.md
@@ -1,4 +1,4 @@
-# workshop_orchestrator
+# 车间总控编排模块
 
 这是自动化标定车间的总编排说明文档。这个 README 需要跟着代码一起更新，用来保留当前流程设计、任务粒度和模块职责。
 
@@ -27,7 +27,27 @@
 - 阶段审批
 - 报告生成与查询
 
-### 2. 任务选择方式
+### 2. WiFi6 链路调度
+
+车间工控机到车端电脑只使用一个统一 WiFi6/TCP 入口，默认是：
+
+```text
+wifi6_vehicle_host: 127.0.0.1
+wifi6_vehicle_port: 9000
+```
+
+总控预检时会在同一个 TCP endpoint 上依次检查四个逻辑通道：
+
+| 逻辑通道 | 帧类型 | 作用 |
+|---|---|---|
+| 底盘 `CHASSIS` | `1 -> 2` | 检查底盘 agent、急停、运动安全状态 |
+| 运控 `CONTROL` | `11 -> 12` | 检查轨迹执行器、车辆反馈、控制输出 |
+| 传感器 `SENSOR` | `21 -> 22` | 检查车端传感器采集和数据流状态 |
+| 外部真值 `EXTERNAL_POSE` | `31 -> 32` | 检查外部真值位姿能否通过 WiFi6 推入车端 |
+
+这里的“四条链路”是协议里的逻辑通道，不是四个物理端口。仿真环境中如果底盘、运控、传感器、外部真值仍由不同脚本承载，可以启动 `vehicle_wifi6_gateway_sim.py`，由它监听 `9000` 并转发到内部后端端口。
+
+### 3. 任务选择方式
 
 当前设计是“**由 UI 或上层显式选择要执行的阶段**”。
 
@@ -36,7 +56,7 @@
 
 ## 当前执行主线
 
-`CreateSession -> BuildPlan -> Precheck -> Stage Execution -> Commit/Validation -> Report`
+当前主线为：创建会话 -> 生成计划 -> 执行预检 -> 阶段执行 -> 提交/验收 -> 生成报告。
 
 其中阶段执行会按会话配置和车辆画像决定是否加入：
 
@@ -71,12 +91,12 @@
 
 | 模块 | 职责 | 输入 | 输出 | 实现位置 |
 |---|---|---|---|---|
-| 车间总控 `workshop_orchestrator_v2` | 管会话、生成计划、调度执行、处理人工确认/审批、生成报告 | `VehicleProfile`、`WorkshopSessionConfig`、`RequestedCalibrationTask`、`StagePlan`、`StageResultSummary` | `WorkshopSession`、`WorkshopPrecheckResponse`、`WorkshopReport`、`WorkshopEvent` | `src/agv_calib_core/workshop_orchestrator/src/main.cpp`<br>`src/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp`<br>`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp` / `include/workshop_orchestrator_v2/plan_builder.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp` / `include/workshop_orchestrator_v2/precheck_runner.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/report_builder.cpp` / `include/workshop_orchestrator_v2/report_builder.hpp`<br>`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp` |
-| 外部定位 / 真值接入 `external_localization_service` | goal 校验、外部参考接入、真值校核、结果回填 | `ExecuteExternalLocalizationTask::Goal`、`WorkshopSession`、`StagePlan` | `StageResultSummary`、`ExecuteExternalLocalizationTask::Result` | `src/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp`<br>`src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp` |
-| 底盘标定客户端 | readiness 检查、底盘动作原语任务下发、结果翻译 | `WorkshopSession`、`StagePlan` | `StageResultSummary`、底盘专项 goal / result | `src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp` |
-| 运控参数标定客户端 | readiness 检查、控制评估任务下发、轨迹组装、结果翻译 | `WorkshopSession`、`StagePlan`、`stage.metadata` 中的轨迹与参数 | `StageResultSummary`、运控专项 goal / result | `src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp` |
-| 传感器标定客户端 | readiness 检查、传感器任务路由、结果翻译 | `WorkshopSession`、`StagePlan`、`stage.metadata` 中的传感器信息 | `StageResultSummary`、传感器专项 goal / result | `src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp` |
-| 外部定位客户端 | readiness 检查、外部参考接入任务下发、结果接入总控 | `WorkshopSession`、`StagePlan` | `StageResultSummary`、外部定位专项 goal / result | `src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp`<br>`src/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp` |
+| 车间总控 `workshop_orchestrator_v2` | 管会话、生成计划、调度执行、处理人工确认/审批、生成报告 | `VehicleProfile`、`WorkshopSessionConfig`、`RequestedCalibrationTask`、`StagePlan`、`StageResultSummary` | `WorkshopSession`、`WorkshopPrecheckResponse`、`WorkshopReport`、`WorkshopEvent` | `src/core/agv_calib_core/workshop_orchestrator/src/main.cpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp`<br>`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp` / `include/workshop_orchestrator_v2/plan_builder.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp` / `include/workshop_orchestrator_v2/precheck_runner.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/report_builder.cpp` / `include/workshop_orchestrator_v2/report_builder.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp` |
+| 外部定位 / 真值接入 `external_localization_service` | goal 校验、外部参考接入、真值校核、结果回填 | `ExecuteExternalLocalizationTask::Goal`、`WorkshopSession`、`StagePlan` | `StageResultSummary`、`ExecuteExternalLocalizationTask::Result` | `src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp`<br>`src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp` |
+| 底盘标定客户端 | readiness 检查、底盘动作原语任务下发、结果翻译 | `WorkshopSession`、`StagePlan` | `StageResultSummary`、底盘专项 goal / result | `src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp` |
+| 运控参数标定客户端 | readiness 检查、控制评估任务下发、轨迹组装、结果翻译 | `WorkshopSession`、`StagePlan`、`stage.metadata` 中的轨迹与参数 | `StageResultSummary`、运控专项 goal / result | `src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp` |
+| 传感器标定客户端 | readiness 检查、传感器任务路由、结果翻译 | `WorkshopSession`、`StagePlan`、`stage.metadata` 中的传感器信息 | `StageResultSummary`、传感器专项 goal / result | `src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp` |
+| 外部定位客户端 | readiness 检查、外部参考接入任务下发、结果接入总控 | `WorkshopSession`、`StagePlan` | `StageResultSummary`、外部定位专项 goal / result | `src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp`<br>`src/core/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp` |
 
 ### 1. 车间总控模块 `workshop_orchestrator_v2`
 
@@ -100,13 +120,13 @@
 - `WorkshopEvent`
 
 **实现位置**
-- 节点入口：`src/agv_calib_core/workshop_orchestrator/src/main.cpp`
-- 总控节点：`src/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp`
-- 总控头文件：`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp`
-- 阶段规划：`src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp` / `include/workshop_orchestrator_v2/plan_builder.hpp`
-- 预检逻辑：`src/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp` / `include/workshop_orchestrator_v2/precheck_runner.hpp`
-- 报告生成：`src/agv_calib_core/workshop_orchestrator/src/report_builder.cpp` / `include/workshop_orchestrator_v2/report_builder.hpp`
-- 共享类型：`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp`
+- 节点入口：`src/core/agv_calib_core/workshop_orchestrator/src/main.cpp`
+- 总控节点：`src/core/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp`
+- 总控头文件：`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp`
+- 阶段规划：`src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp` / `include/workshop_orchestrator_v2/plan_builder.hpp`
+- 预检逻辑：`src/core/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp` / `include/workshop_orchestrator_v2/precheck_runner.hpp`
+- 报告生成：`src/core/agv_calib_core/workshop_orchestrator/src/report_builder.cpp` / `include/workshop_orchestrator_v2/report_builder.hpp`
+- 共享类型：`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp`
 
 ### 2. 外部定位 / 真值接入模块 `external_localization_service`
 
@@ -125,8 +145,8 @@
 - `ExecuteExternalLocalizationTask::Result`
 
 **实现位置**
-- 执行器头文件：`src/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp`
-- 执行器实现：`src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp`
+- 执行器头文件：`src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp`
+- 执行器实现：`src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp`
 
 ### 3. 底盘标定客户端
 
@@ -144,8 +164,8 @@
 - 底盘专项 goal / result
 
 **实现位置**
-- 头文件：`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp`
-- 实现：`src/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp`
+- 头文件：`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp`
+- 实现：`src/core/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp`
 
 ### 4. 运控参数标定客户端
 
@@ -165,8 +185,8 @@
 - 运控专项 goal / result
 
 **实现位置**
-- 头文件：`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp`
-- 实现：`src/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp`
+- 头文件：`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp`
+- 实现：`src/core/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp`
 
 ### 5. 传感器标定客户端
 
@@ -186,8 +206,8 @@
 - 传感器专项 goal / result
 
 **实现位置**
-- 头文件：`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp`
-- 实现：`src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
+- 头文件：`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp`
+- 实现：`src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
 
 ### 6. 外部定位客户端
 
@@ -205,8 +225,8 @@
 - 外部定位专项 goal / result
 
 **实现位置**
-- 头文件：`src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp`
-- 实现：`src/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp`
+- 头文件：`src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp`
+- 实现：`src/core/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp`
 
 ### 7. 外部定位专项执行骨架
 
@@ -223,8 +243,8 @@
 - `StageResultSummary`
 
 **实现位置**
-- 头文件：`src/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp`
-- 实现：`src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp`
+- 头文件：`src/core/agv_calib_core/external_localization_service/include/external_localization_service/external_reference_executor.hpp`
+- 实现：`src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp`
 
 ## 专项任务清单
 
@@ -233,9 +253,9 @@
 ### 1. 外部定位 / 真值接入
 
 **对应代码**
-- `src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
-- `src/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp`
-- `src/agv_calib_core/external_localization_service/src/external_reference_executor.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp`
+- `src/core/agv_calib_core/external_localization_service/src/external_reference_executor.cpp`
 
 **当前任务**
 - 外部真值参考接入
@@ -251,8 +271,8 @@
 ### 2. 底盘标定
 
 **对应代码**
-- `src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
-- `src/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp`
 
 **当前任务**
 - 底盘 readiness 检查
@@ -267,8 +287,8 @@
 ### 3. 运控参数标定
 
 **对应代码**
-- `src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
-- `src/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp`
 
 **当前任务**
 - 运控 readiness 检查
@@ -284,8 +304,8 @@
 ### 4. 传感器内参标定
 
 **对应代码**
-- `src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
-- `src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
 
 **当前任务**
 - 相机内参标定
@@ -302,8 +322,8 @@
 ### 5. 传感器外参标定
 
 **对应代码**
-- `src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
-- `src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
 
 **当前任务**
 - 相机外参标定
@@ -321,8 +341,8 @@
 ### 6. 手眼标定
 
 **对应代码**
-- `src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
-- `src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp`
+- `src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp`
 
 **当前任务**
 - 眼在手上（EYE_IN_HAND）
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/chassis_gateway_client.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/control_gateway_client.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/external_localization_client.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp
similarity index 70%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp
index e407663..cf7c8f4 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/plan_builder.hpp
@@ -49,13 +49,34 @@ private:
     uint8_t ability_type) const;
 
   // 各阶段的构造方法。
-  StagePlan make_external_reference_stage(int order_index, const RequestedCalibrationTask * task_cfg) const;
-  StagePlan make_chassis_stage(int order_index, const RequestedCalibrationTask * task_cfg) const;
-  StagePlan make_control_stage(int order_index, const RequestedCalibrationTask * task_cfg) const;
-  StagePlan make_sensor_intrinsic_stage(int order_index, const RequestedCalibrationTask * task_cfg) const;
-  StagePlan make_sensor_extrinsic_stage(int order_index, const RequestedCalibrationTask * task_cfg) const;
-  StagePlan make_hand_eye_stage(int order_index, const RequestedCalibrationTask * task_cfg) const;
-  StagePlan make_stage_for_task(int order_index, const RequestedCalibrationTask & task) const;
+  StagePlan make_external_reference_stage(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask * task_cfg) const;
+  StagePlan make_chassis_stage(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask * task_cfg) const;
+  StagePlan make_control_stage(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask * task_cfg) const;
+  StagePlan make_sensor_intrinsic_stage(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask * task_cfg) const;
+  StagePlan make_sensor_extrinsic_stage(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask * task_cfg) const;
+  StagePlan make_hand_eye_stage(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask * task_cfg) const;
+  StagePlan make_stage_for_task(
+    int order_index,
+    const VehicleProfile & profile,
+    const RequestedCalibrationTask & task) const;
 
   // 把 RequestedCalibrationTask 中的策略和配置应用到 StagePlan 上。
   void apply_task_config(StagePlan & stage, const RequestedCalibrationTask * task_cfg) const;
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/precheck_runner.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/precheck_runner.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/precheck_runner.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/precheck_runner.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/report_builder.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/report_builder.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/report_builder.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/report_builder.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/sensor_gateway_client.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp
similarity index 69%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp
index 8e37f9b..327ca18 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/types.hpp
@@ -94,12 +94,46 @@ inline constexpr const char * CHASSIS_PRIMITIVE_TYPE = "primitive_type";
 inline constexpr const char * CHASSIS_STRAIGHT_LINE_DISTANCE_M = "straight_line.target_distance_m";
 inline constexpr const char * CHASSIS_STRAIGHT_LINE_SPEED_MS = "straight_line.target_speed_ms";
 inline constexpr const char * CHASSIS_STRAIGHT_LINE_REVERSE = "straight_line.reverse";
+inline constexpr const char * CHASSIS_ARC_SPEED_MS = "arc.target_speed_ms";
+inline constexpr const char * CHASSIS_ARC_RADIUS_M = "arc.radius_m";
+inline constexpr const char * CHASSIS_ARC_SWEEP_ANGLE_DEG = "arc.sweep_angle_deg";
+inline constexpr const char * CHASSIS_ARC_CLOCKWISE = "arc.clockwise";
+inline constexpr const char * CHASSIS_ROTATION_TARGET_YAW_DEG = "in_place_rotation.target_yaw_deg";
+inline constexpr const char * CHASSIS_ROTATION_TARGET_ANGULAR_VEL_DEG_S = "in_place_rotation.target_angular_vel_deg_s";
+inline constexpr const char * CHASSIS_STEERING_SWEEP_TARGET_ANGLE_DEG = "steering_sweep.target_angle_deg";
+inline constexpr const char * CHASSIS_STEERING_SWEEP_AMPLITUDE_DEG = "steering_sweep.sweep_amplitude_deg";
+inline constexpr const char * CHASSIS_STEERING_SWEEP_FREQUENCY_HZ = "steering_sweep.sweep_frequency_hz";
+inline constexpr const char * CHASSIS_STEERING_SWEEP_DURATION_SEC = "steering_sweep.duration_sec";
+inline constexpr const char * CHASSIS_LATERAL_SPEED_MS = "lateral_translation.target_speed_ms";
+inline constexpr const char * CHASSIS_LATERAL_DISTANCE_M = "lateral_translation.target_distance_m";
+inline constexpr const char * CHASSIS_LATERAL_MOVE_LEFT = "lateral_translation.move_left";
+inline constexpr const char * CHASSIS_DIAGONAL_SPEED_MS = "diagonal_motion.target_speed_ms";
+inline constexpr const char * CHASSIS_DIAGONAL_DISTANCE_M = "diagonal_motion.target_distance_m";
+inline constexpr const char * CHASSIS_DIAGONAL_HEADING_DEG = "diagonal_motion.heading_deg";
+inline constexpr const char * CHASSIS_MODULE_ALIGNMENT_IDS = "module_alignment.module_ids";
+inline constexpr const char * CHASSIS_MODULE_ALIGNMENT_ZERO_DEG = "module_alignment.target_zero_deg";
+inline constexpr const char * CHASSIS_MODULE_ALIGNMENT_TOLERANCE_DEG = "module_alignment.tolerance_deg";
+inline constexpr const char * CHASSIS_COORDINATED_STEERING_IDS = "coordinated_steering.module_ids";
+inline constexpr const char * CHASSIS_COORDINATED_STEERING_TARGET_ANGLE_DEG = "coordinated_steering.target_angle_deg";
+inline constexpr const char * CHASSIS_COORDINATED_STEERING_HOLD_TIME_SEC = "coordinated_steering.hold_time_sec";
 inline constexpr const char * COMMON_BRAKE_WHEN_FINISHED = "brake_when_finished";
 inline constexpr const char * COMMON_TIMEOUT_SEC = "timeout_sec";
 
 // control
 inline constexpr const char * CONTROL_TASK_TYPE = "control.task_type";
 inline constexpr const char * CONTROL_TRAJECTORY_PREFIX = "traj_pt_";
+inline constexpr const char * CONTROL_STOP_AT_END = "control.stop_at_end";
+inline constexpr const char * CONTROL_TIMEOUT_SEC = "control.timeout_sec";
+inline constexpr const char * CONTROL_VELOCITY_STEP_TARGET_VELOCITY_MS = "velocity_step.target_velocity_ms";
+inline constexpr const char * CONTROL_VELOCITY_STEP_HOLD_TIME_SEC = "velocity_step.hold_time_sec";
+inline constexpr const char * CONTROL_VELOCITY_STEP_SETTLE_BEFORE_STEP_SEC = "velocity_step.settle_before_step_sec";
+inline constexpr const char * CONTROL_ACCEL_DECEL_START_VELOCITY_MS = "accel_decel.start_velocity_ms";
+inline constexpr const char * CONTROL_ACCEL_DECEL_TARGET_VELOCITY_MS = "accel_decel.target_velocity_ms";
+inline constexpr const char * CONTROL_ACCEL_DECEL_TARGET_ACCEL_MS2 = "accel_decel.target_accel_ms2";
+inline constexpr const char * CONTROL_ACCEL_DECEL_HOLD_TIME_SEC = "accel_decel.hold_time_sec";
+inline constexpr const char * CONTROL_STOP_ACCURACY_X_M = "stop_accuracy.target_stop_x_m";
+inline constexpr const char * CONTROL_STOP_ACCURACY_Y_M = "stop_accuracy.target_stop_y_m";
+inline constexpr const char * CONTROL_STOP_ACCURACY_YAW_RAD = "stop_accuracy.target_stop_yaw_rad";
 
 // sensor
 inline constexpr const char * SENSOR_ID = "sensor.sensor_id";
@@ -107,6 +141,9 @@ inline constexpr const char * SENSOR_TASK_SUBTYPE = "sensor.task_subtype";
 inline constexpr const char * CAMERA_INTRINSIC_REQUIRED_IMAGE_COUNT = "camera_intrinsic.required_image_count";
 inline constexpr const char * CAMERA_INTRINSIC_TARGET_BOARD_ID = "camera_intrinsic.target_board_id";
 inline constexpr const char * CAMERA_INTRINSIC_TIMEOUT_SEC = "camera_intrinsic.timeout_sec";
+inline constexpr const char * IMU_INTRINSIC_REQUIRED_STATIC_SEGMENT_COUNT = "imu_intrinsic.required_static_segment_count";
+inline constexpr const char * IMU_INTRINSIC_REQUIRED_MOTION_SEGMENT_COUNT = "imu_intrinsic.required_motion_segment_count";
+inline constexpr const char * IMU_INTRINSIC_TIMEOUT_SEC = "imu_intrinsic.timeout_sec";
 inline constexpr const char * SENSOR_EXTRINSIC_BASE_FRAME_ID = "sensor_extrinsic.base_frame_id";
 inline constexpr const char * SENSOR_EXTRINSIC_REQUIRED_SAMPLE_COUNT = "sensor_extrinsic.required_sample_count";
 inline constexpr const char * SENSOR_EXTRINSIC_TIMEOUT_SEC = "sensor_extrinsic.timeout_sec";
diff --git a/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/wifi6_link_client.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/wifi6_link_client.hpp
new file mode 100644
index 0000000..450323f
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/wifi6_link_client.hpp
@@ -0,0 +1,56 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+namespace workshop_orchestrator_v2
+{
+
+// 对齐 src/communication/win_ubuntu_bridge/*/proto/transport_contract.proto。
+// 这个 client 只用于 orchestrator 预检四条 WiFi6/TCP 链路，不承载专项算法逻辑。
+class Wifi6LinkClient
+{
+public:
+  struct Config
+  {
+    std::string vehicle_host{"127.0.0.1"};
+    uint16_t vehicle_port{9000};
+    int timeout_ms{5000};
+  };
+
+  struct CheckResult
+  {
+    bool passed{false};
+    std::string message;
+  };
+
+  explicit Wifi6LinkClient(Config config);
+
+  CheckResult check_chassis() const;
+  CheckResult check_control() const;
+  CheckResult check_sensor() const;
+  CheckResult check_external_pose() const;
+
+private:
+  enum class FrameType : uint32_t
+  {
+    CHASSIS_GET_READINESS_REQ = 1,
+    CHASSIS_GET_READINESS_RSP = 2,
+    CONTROL_GET_READINESS_REQ = 11,
+    CONTROL_GET_READINESS_RSP = 12,
+    SENSOR_GET_READINESS_REQ = 21,
+    SENSOR_GET_READINESS_RSP = 22,
+    EXTERNAL_POSE_PUSH_REQ = 31,
+    EXTERNAL_POSE_PUSH_RSP = 32,
+  };
+
+  CheckResult send_json_request(
+    FrameType request_type,
+    FrameType response_type,
+    const std::string & request_payload,
+    const std::string & link_name) const;
+
+  Config config_;
+};
+
+}  // namespace workshop_orchestrator_v2
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp
similarity index 94%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp
index fa28bfc..ba0049a 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/include/workshop_orchestrator_v2/workshop_orchestrator_v2_node.hpp
@@ -9,6 +9,8 @@
 #include "rclcpp/rclcpp.hpp"               // ROS 2 普通节点基础能力。
 #include "rclcpp_action/rclcpp_action.hpp" // ROS 2 action 能力，适合承载"整场任务执行"这种长操作。
 
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+
 #include "calibration_workshop_orchestration_interfaces/action/execute_workshop_session.hpp" // 外部要求主控开始跑某次标定任务的 action。
 #include "calibration_workshop_orchestration_interfaces/msg/workshop_event.hpp"               // 发给界面/日志/上位机的进度通知消息。
 #include "calibration_workshop_orchestration_interfaces/msg/workshop_event_type.hpp"          // 进度通知里的事件类型枚举。
@@ -28,6 +30,7 @@
 #include "workshop_orchestrator_v2/chassis_gateway_client.hpp"       // 底盘模块薄 client。
 #include "workshop_orchestrator_v2/control_gateway_client.hpp"       // 运控模块薄 client。
 #include "workshop_orchestrator_v2/sensor_gateway_client.hpp"        // 传感器模块薄 client。
+#include "workshop_orchestrator_v2/wifi6_link_client.hpp"            // 四条 WiFi6/TCP 链路预检。
 
 namespace workshop_orchestrator_v2
 {
@@ -91,6 +94,15 @@ private:
   void execute_session(const std::shared_ptr<GoalHandleExecuteWorkshopSession> goal_handle);
   SessionExecutionContext prepare_session_for_run(const std::string & session_id);
   WorkshopPrecheckResponse run_precheck_step(const std::string & session_id);
+  void run_wifi6_link_precheck(const WorkshopSession & session, WorkshopPrecheckResponse & precheck);
+  void append_precheck_item(
+    WorkshopPrecheckResponse & precheck,
+    const std::string & item_code,
+    const std::string & display_name,
+    bool passed,
+    const std::string & message,
+    uint8_t stage_type,
+    uint8_t module_type);
   void mark_session_running(const std::string & session_id);
   bool handle_cancel_if_requested(
     const std::shared_ptr<GoalHandleExecuteWorkshopSession> goal_handle,
@@ -208,6 +220,10 @@ private:
   std::unique_ptr<ChassisGatewayClient> chassis_gateway_client_;
   std::unique_ptr<ControlGatewayClient> control_gateway_client_;
   std::unique_ptr<SensorGatewayClient> sensor_gateway_client_;
+  std::unique_ptr<Wifi6LinkClient> wifi6_link_client_;
+  bool wifi6_precheck_enabled_{true};
+  bool wifi6_precheck_require_all_links_{true};
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
 
   // ─── ROS 接口 ───
   rclcpp::Service<calibration_workshop_orchestration_interfaces::srv::CreateWorkshopSession>::SharedPtr create_session_service_;
diff --git a/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py
new file mode 100644
index 0000000..02febe8
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/launch/workshop_orchestrator_v2.launch.py
@@ -0,0 +1,30 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument("wifi6_vehicle_host", default_value="127.0.0.1"),
+        DeclareLaunchArgument("wifi6_vehicle_port", default_value="9000"),
+        DeclareLaunchArgument("wifi6_timeout_ms", default_value="5000"),
+        DeclareLaunchArgument("wifi6_precheck_enabled", default_value="true"),
+        DeclareLaunchArgument("wifi6_precheck_require_all_links", default_value="true"),
+        Node(
+            package="workshop_orchestrator_v2",
+            executable="workshop_orchestrator_v2_node",
+            name="workshop_orchestrator_v2",
+            output="screen",
+            parameters=[{
+                "wifi6_vehicle_host": LaunchConfiguration("wifi6_vehicle_host"),
+                "wifi6_vehicle_port": ParameterValue(LaunchConfiguration("wifi6_vehicle_port"), value_type=int),
+                "wifi6_timeout_ms": ParameterValue(LaunchConfiguration("wifi6_timeout_ms"), value_type=int),
+                "wifi6_precheck_enabled": ParameterValue(
+                    LaunchConfiguration("wifi6_precheck_enabled"), value_type=bool),
+                "wifi6_precheck_require_all_links": ParameterValue(
+                    LaunchConfiguration("wifi6_precheck_require_all_links"), value_type=bool),
+            }],
+        )
+    ])
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/package.xml b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/package.xml
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/package.xml
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/package.xml
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp
similarity index 50%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp
index b4c0e99..84b0fda 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/chassis_gateway_client.cpp
@@ -1,9 +1,11 @@
 #include "workshop_orchestrator_v2/chassis_gateway_client.hpp"
 
 #include <chrono>
+#include <cctype>
 #include <future>
 #include <sstream>
 #include <unordered_map>
+#include <vector>
 
 #include "workshop_orchestrator_v2/types.hpp"
 
@@ -17,6 +19,61 @@ using calibration_workshop_orchestration_interfaces::msg::StagePlan;
 using calibration_workshop_orchestration_interfaces::msg::StageResultSummary;
 using calibration_workshop_orchestration_interfaces::msg::WorkshopSession;
 
+namespace
+{
+
+bool parse_bool_value(const std::string & value)
+{
+  return value == "true" || value == "1" || value == "TRUE" || value == "True";
+}
+
+bool parse_double_metadata(
+  const std::unordered_map<std::string, std::string> & metadata_map,
+  const std::string & key,
+  double & output)
+{
+  const auto it = metadata_map.find(key);
+  if (it == metadata_map.end()) {
+    return false;
+  }
+  try {
+    output = std::stod(it->second);
+    return true;
+  } catch (...) {
+    return false;
+  }
+}
+
+bool parse_string_list_metadata(
+  const std::unordered_map<std::string, std::string> & metadata_map,
+  const std::string & key,
+  std::vector<std::string> & output)
+{
+  const auto it = metadata_map.find(key);
+  if (it == metadata_map.end()) {
+    return false;
+  }
+
+  output.clear();
+  std::string token;
+  for (char ch : it->second) {
+    if (ch == ',' || ch == ';' || std::isspace(static_cast<unsigned char>(ch))) {
+      if (!token.empty()) {
+        output.push_back(token);
+        token.clear();
+      }
+      continue;
+    }
+    token.push_back(ch);
+  }
+  if (!token.empty()) {
+    output.push_back(token);
+  }
+  return !output.empty();
+}
+
+}  // namespace
+
 ChassisGatewayClient::ChassisGatewayClient(rclcpp::Node * node)
 : node_(node)
 {
@@ -115,35 +172,170 @@ bool ChassisGatewayClient::build_goal(
     return false;
   }
 
-  if (primitive_it->second != "straight_line") {
-    failure_reason = "当前最小流仅支持 straight_line 底盘动作原语。";
+  if (primitive_it->second == "straight_line") {
+    double target_distance_m = 0.0;
+    double target_speed_ms = 0.0;
+    if (!parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_STRAIGHT_LINE_DISTANCE_M, target_distance_m) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_STRAIGHT_LINE_SPEED_MS, target_speed_ms))
+    {
+      failure_reason = "straight_line 缺少 target_distance_m 或 target_speed_ms，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::STRAIGHT_LINE;
+    goal.goal.straight_line.target_distance_m = target_distance_m;
+    goal.goal.straight_line.target_speed_ms = target_speed_ms;
+    const auto reverse_it = metadata_map.find(metadata_keys::CHASSIS_STRAIGHT_LINE_REVERSE);
+    goal.goal.straight_line.reverse =
+      reverse_it != metadata_map.end() && parse_bool_value(reverse_it->second);
+  } else if (primitive_it->second == "arc") {
+    double target_speed_ms = 0.0;
+    double radius_m = 0.0;
+    double sweep_angle_deg = 0.0;
+    if (!parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_ARC_SPEED_MS, target_speed_ms) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_ARC_RADIUS_M, radius_m) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_ARC_SWEEP_ANGLE_DEG, sweep_angle_deg))
+    {
+      failure_reason = "arc 缺少 target_speed_ms、radius_m 或 sweep_angle_deg，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::ARC;
+    goal.goal.arc.target_speed_ms = target_speed_ms;
+    goal.goal.arc.radius_m = radius_m;
+    goal.goal.arc.sweep_angle_deg = sweep_angle_deg;
+    const auto clockwise_it = metadata_map.find(metadata_keys::CHASSIS_ARC_CLOCKWISE);
+    goal.goal.arc.clockwise =
+      clockwise_it != metadata_map.end() && parse_bool_value(clockwise_it->second);
+  } else if (primitive_it->second == "in_place_rotation") {
+    double target_yaw_deg = 0.0;
+    double target_angular_vel_deg_s = 0.0;
+    if (!parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_ROTATION_TARGET_YAW_DEG, target_yaw_deg) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_ROTATION_TARGET_ANGULAR_VEL_DEG_S,
+        target_angular_vel_deg_s))
+    {
+      failure_reason = "in_place_rotation 缺少 target_yaw_deg 或 target_angular_vel_deg_s，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::IN_PLACE_ROTATION;
+    goal.goal.in_place_rotation.target_yaw_deg = target_yaw_deg;
+    goal.goal.in_place_rotation.target_angular_vel_deg_s = target_angular_vel_deg_s;
+  } else if (primitive_it->second == "steering_sweep") {
+    double target_angle_deg = 0.0;
+    double sweep_amplitude_deg = 0.0;
+    double sweep_frequency_hz = 0.0;
+    double duration_sec = 0.0;
+    if (!parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_STEERING_SWEEP_TARGET_ANGLE_DEG, target_angle_deg) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_STEERING_SWEEP_AMPLITUDE_DEG, sweep_amplitude_deg) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_STEERING_SWEEP_FREQUENCY_HZ, sweep_frequency_hz) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_STEERING_SWEEP_DURATION_SEC, duration_sec))
+    {
+      failure_reason = "steering_sweep 缺少目标角、幅值、频率或持续时间，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::STEERING_SWEEP;
+    goal.goal.steering_sweep.target_angle_deg = target_angle_deg;
+    goal.goal.steering_sweep.sweep_amplitude_deg = sweep_amplitude_deg;
+    goal.goal.steering_sweep.sweep_frequency_hz = sweep_frequency_hz;
+    goal.goal.steering_sweep.duration_sec = duration_sec;
+  } else if (primitive_it->second == "lateral_translation") {
+    double target_speed_ms = 0.0;
+    double target_distance_m = 0.0;
+    if (!parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_LATERAL_SPEED_MS, target_speed_ms) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_LATERAL_DISTANCE_M, target_distance_m))
+    {
+      failure_reason = "lateral_translation 缺少 target_speed_ms 或 target_distance_m，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::LATERAL_TRANSLATION;
+    goal.goal.lateral_translation.target_speed_ms = target_speed_ms;
+    goal.goal.lateral_translation.target_distance_m = target_distance_m;
+    const auto move_left_it = metadata_map.find(metadata_keys::CHASSIS_LATERAL_MOVE_LEFT);
+    goal.goal.lateral_translation.move_left =
+      move_left_it != metadata_map.end() && parse_bool_value(move_left_it->second);
+  } else if (primitive_it->second == "diagonal_motion") {
+    double target_speed_ms = 0.0;
+    double target_distance_m = 0.0;
+    double heading_deg = 0.0;
+    if (!parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_DIAGONAL_SPEED_MS, target_speed_ms) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_DIAGONAL_DISTANCE_M, target_distance_m) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_DIAGONAL_HEADING_DEG, heading_deg))
+    {
+      failure_reason = "diagonal_motion 缺少 target_speed_ms、target_distance_m 或 heading_deg，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::DIAGONAL_MOTION;
+    goal.goal.diagonal_motion.target_speed_ms = target_speed_ms;
+    goal.goal.diagonal_motion.target_distance_m = target_distance_m;
+    goal.goal.diagonal_motion.heading_deg = heading_deg;
+  } else if (primitive_it->second == "module_alignment") {
+    std::vector<std::string> module_ids;
+    double target_zero_deg = 0.0;
+    double tolerance_deg = 0.0;
+    if (!parse_string_list_metadata(
+        metadata_map, metadata_keys::CHASSIS_MODULE_ALIGNMENT_IDS, module_ids) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_MODULE_ALIGNMENT_ZERO_DEG, target_zero_deg) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_MODULE_ALIGNMENT_TOLERANCE_DEG, tolerance_deg))
+    {
+      failure_reason = "module_alignment 缺少 module_ids、target_zero_deg 或 tolerance_deg，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::MODULE_ALIGNMENT;
+    goal.goal.module_alignment.module_ids = module_ids;
+    goal.goal.module_alignment.target_zero_deg = target_zero_deg;
+    goal.goal.module_alignment.tolerance_deg = tolerance_deg;
+  } else if (primitive_it->second == "coordinated_steering") {
+    std::vector<std::string> module_ids;
+    double target_angle_deg = 0.0;
+    double hold_time_sec = 0.0;
+    if (!parse_string_list_metadata(
+        metadata_map, metadata_keys::CHASSIS_COORDINATED_STEERING_IDS, module_ids) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_COORDINATED_STEERING_TARGET_ANGLE_DEG,
+        target_angle_deg) ||
+      !parse_double_metadata(
+        metadata_map, metadata_keys::CHASSIS_COORDINATED_STEERING_HOLD_TIME_SEC, hold_time_sec))
+    {
+      failure_reason = "coordinated_steering 缺少 module_ids、target_angle_deg 或 hold_time_sec，或参数格式错误。";
+      return false;
+    }
+
+    goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::COORDINATED_STEERING;
+    goal.goal.coordinated_steering.module_ids = module_ids;
+    goal.goal.coordinated_steering.target_angle_deg = target_angle_deg;
+    goal.goal.coordinated_steering.hold_time_sec = hold_time_sec;
+  } else {
+    failure_reason = "不支持的底盘动作原语类型：" + primitive_it->second;
     return false;
   }
 
-  const auto distance_it = metadata_map.find(metadata_keys::CHASSIS_STRAIGHT_LINE_DISTANCE_M);
-  const auto speed_it = metadata_map.find(metadata_keys::CHASSIS_STRAIGHT_LINE_SPEED_MS);
-  if (distance_it == metadata_map.end() || speed_it == metadata_map.end()) {
-    failure_reason = "straight_line 缺少 target_distance_m 或 target_speed_ms。";
-    return false;
-  }
-
-  goal.goal.selected_primitive.value = ChassisMotionPrimitiveType::STRAIGHT_LINE;
-  try {
-    goal.goal.straight_line.target_distance_m = std::stod(distance_it->second);
-    goal.goal.straight_line.target_speed_ms = std::stod(speed_it->second);
-  } catch (...) {
-    failure_reason = "straight_line 参数格式错误，无法解析为数字。";
-    return false;
-  }
-
-  const auto reverse_it = metadata_map.find(metadata_keys::CHASSIS_STRAIGHT_LINE_REVERSE);
-  goal.goal.straight_line.reverse =
-    reverse_it != metadata_map.end() && (reverse_it->second == "true" || reverse_it->second == "1");
-
   goal.goal.brake_when_finished = true;
   const auto brake_it = metadata_map.find(metadata_keys::COMMON_BRAKE_WHEN_FINISHED);
   if (brake_it != metadata_map.end()) {
-    goal.goal.brake_when_finished = brake_it->second == "true" || brake_it->second == "1";
+    goal.goal.brake_when_finished = parse_bool_value(brake_it->second);
   }
 
   goal.goal.timeout_sec = 60.0;
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp
similarity index 68%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp
index 06b22ae..f44a115 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/control_gateway_client.cpp
@@ -108,8 +108,17 @@ uint8_t ControlGatewayClient::resolve_task_type(
   if (task_type_it->second == "trajectory_tracking") {
     return ControllerEvaluationTaskType::TRAJECTORY_TRACKING;
   }
+  if (task_type_it->second == "velocity_step") {
+    return ControllerEvaluationTaskType::VELOCITY_STEP;
+  }
+  if (task_type_it->second == "accel_decel") {
+    return ControllerEvaluationTaskType::ACCELERATION_DECELERATION;
+  }
+  if (task_type_it->second == "stop_accuracy") {
+    return ControllerEvaluationTaskType::STOP_ACCURACY;
+  }
 
-  failure_reason = "当前最小流仅支持 trajectory_tracking 运控任务。";
+  failure_reason = "不支持的运控任务类型：" + task_type_it->second;
   return ControllerEvaluationTaskType::CONTROL_EVALUATION_TASK_UNSPECIFIED;
 }
 
@@ -140,16 +149,95 @@ bool ControlGatewayClient::build_goal(
   }
   goal.goal.selected_task.value = selected_task_type;
 
-  goal.goal.trajectory_tracking.stop_at_end = true; // 执行完后停车，保证安全。
-  goal.goal.trajectory_tracking.timeout_sec = 60.0;
+  std::unordered_map<std::string, std::string> metadata_map;
+  for (const auto & kv : stage.metadata) {
+    metadata_map[kv.key] = kv.value;
+  }
 
-  // 轨迹必须由流程配置显式提供；编排器不再隐式生成默认轨迹。
-  goal.goal.trajectory_tracking.path = build_trajectory_from_metadata(stage, failure_reason);
-  if (goal.goal.trajectory_tracking.path.empty()) {
-    if (failure_reason.empty()) {
-      failure_reason = "运控阶段缺少轨迹输入，无法启动评估任务。";
+  if (selected_task_type == ControllerEvaluationTaskType::TRAJECTORY_TRACKING) {
+    goal.goal.trajectory_tracking.stop_at_end = true; // 执行完后停车，保证安全。
+    goal.goal.trajectory_tracking.timeout_sec = 60.0;
+
+    const auto stop_it = metadata_map.find(metadata_keys::CONTROL_STOP_AT_END);
+    if (stop_it != metadata_map.end()) {
+      goal.goal.trajectory_tracking.stop_at_end =
+        stop_it->second == "true" || stop_it->second == "1" || stop_it->second == "TRUE";
+    }
+
+    const auto timeout_it = metadata_map.find(metadata_keys::CONTROL_TIMEOUT_SEC);
+    if (timeout_it != metadata_map.end()) {
+      try {
+        goal.goal.trajectory_tracking.timeout_sec = std::stod(timeout_it->second);
+      } catch (...) {
+        failure_reason = "control.timeout_sec 格式错误。";
+        return false;
+      }
+    }
+
+    // 轨迹必须由流程配置显式提供；编排器不再隐式生成默认轨迹。
+    goal.goal.trajectory_tracking.path = build_trajectory_from_metadata(stage, failure_reason);
+    if (goal.goal.trajectory_tracking.path.empty()) {
+      if (failure_reason.empty()) {
+        failure_reason = "运控阶段缺少轨迹输入，无法启动评估任务。";
+      }
+      return false;
+    }
+  } else if (selected_task_type == ControllerEvaluationTaskType::VELOCITY_STEP) {
+    const auto velocity_it = metadata_map.find(metadata_keys::CONTROL_VELOCITY_STEP_TARGET_VELOCITY_MS);
+    const auto hold_it = metadata_map.find(metadata_keys::CONTROL_VELOCITY_STEP_HOLD_TIME_SEC);
+    const auto settle_it = metadata_map.find(metadata_keys::CONTROL_VELOCITY_STEP_SETTLE_BEFORE_STEP_SEC);
+    if (velocity_it == metadata_map.end() || hold_it == metadata_map.end() || settle_it == metadata_map.end()) {
+      failure_reason = "velocity_step 缺少 target_velocity_ms、hold_time_sec 或 settle_before_step_sec。";
+      return false;
+    }
+    try {
+      goal.goal.velocity_step.target_velocity_ms = std::stod(velocity_it->second);
+      goal.goal.velocity_step.hold_time_sec = std::stod(hold_it->second);
+      goal.goal.velocity_step.settle_before_step_sec = std::stod(settle_it->second);
+    } catch (...) {
+      failure_reason = "velocity_step 参数格式错误。";
+      return false;
+    }
+  } else if (selected_task_type == ControllerEvaluationTaskType::ACCELERATION_DECELERATION) {
+    const auto start_it = metadata_map.find(metadata_keys::CONTROL_ACCEL_DECEL_START_VELOCITY_MS);
+    const auto target_it = metadata_map.find(metadata_keys::CONTROL_ACCEL_DECEL_TARGET_VELOCITY_MS);
+    const auto accel_it = metadata_map.find(metadata_keys::CONTROL_ACCEL_DECEL_TARGET_ACCEL_MS2);
+    const auto hold_it = metadata_map.find(metadata_keys::CONTROL_ACCEL_DECEL_HOLD_TIME_SEC);
+    if (start_it == metadata_map.end() || target_it == metadata_map.end() ||
+      accel_it == metadata_map.end() || hold_it == metadata_map.end())
+    {
+      failure_reason = "accel_decel 缺少 start_velocity_ms、target_velocity_ms、target_accel_ms2 或 hold_time_sec。";
+      return false;
+    }
+    try {
+      goal.goal.accel_decel.start_velocity_ms = std::stod(start_it->second);
+      goal.goal.accel_decel.target_velocity_ms = std::stod(target_it->second);
+      goal.goal.accel_decel.target_accel_ms2 = std::stod(accel_it->second);
+      goal.goal.accel_decel.hold_time_sec = std::stod(hold_it->second);
+    } catch (...) {
+      failure_reason = "accel_decel 参数格式错误。";
+      return false;
+    }
+  } else if (selected_task_type == ControllerEvaluationTaskType::STOP_ACCURACY) {
+    const auto x_it = metadata_map.find(metadata_keys::CONTROL_STOP_ACCURACY_X_M);
+    const auto y_it = metadata_map.find(metadata_keys::CONTROL_STOP_ACCURACY_Y_M);
+    const auto yaw_it = metadata_map.find(metadata_keys::CONTROL_STOP_ACCURACY_YAW_RAD);
+    const auto timeout_it = metadata_map.find(metadata_keys::CONTROL_TIMEOUT_SEC);
+    if (x_it == metadata_map.end() || y_it == metadata_map.end() ||
+      yaw_it == metadata_map.end() || timeout_it == metadata_map.end())
+    {
+      failure_reason = "stop_accuracy 缺少 target_stop_x_m、target_stop_y_m、target_stop_yaw_rad 或 control.timeout_sec。";
+      return false;
+    }
+    try {
+      goal.goal.stop_accuracy.target_stop_x_m = std::stod(x_it->second);
+      goal.goal.stop_accuracy.target_stop_y_m = std::stod(y_it->second);
+      goal.goal.stop_accuracy.target_stop_yaw_rad = std::stod(yaw_it->second);
+      goal.goal.stop_accuracy.timeout_sec = std::stod(timeout_it->second);
+    } catch (...) {
+      failure_reason = "stop_accuracy 参数格式错误。";
+      return false;
     }
-    return false;
   }
 
   goal.goal.source_iteration_id = session.session_id;
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/external_localization_client.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/main.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/main.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/main.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp
similarity index 54%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp
index f2c4c6e..5e6c019 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/plan_builder.cpp
@@ -4,8 +4,198 @@ namespace workshop_orchestrator_v2
 {
 
 using calibration_vehicle_profile_interfaces::msg::CalibrationAbilityType;
+using calibration_vehicle_profile_interfaces::msg::CameraMountType;
+using calibration_vehicle_profile_interfaces::msg::SensorProfile;
+using calibration_vehicle_profile_interfaces::msg::SensorType;
 using calibration_workshop_orchestration_interfaces::msg::StageExecutionPolicy;
 
+namespace
+{
+
+void add_metadata_if_missing(StagePlan & stage, const std::string & key, const std::string & value)
+{
+  for (const auto & kv : stage.metadata) {
+    if (kv.key == key) {
+      return;
+    }
+  }
+  calibration_common_interfaces::msg::KeyValuePair kv;
+  kv.key = key;
+  kv.value = value;
+  stage.metadata.push_back(kv);
+}
+
+const SensorProfile * find_default_sensor(
+  const VehicleProfile & profile,
+  bool require_intrinsic,
+  bool require_extrinsic)
+{
+  for (const auto & sensor : profile.sensors) {
+    if (!sensor.enabled || !sensor.selected_for_this_session) {
+      continue;
+    }
+    if (require_intrinsic &&
+      (!sensor.needs_intrinsic_calibration || !sensor.supports_intrinsic_calibration))
+    {
+      continue;
+    }
+    if (require_extrinsic &&
+      (!sensor.needs_extrinsic_calibration || !sensor.supports_extrinsic_calibration))
+    {
+      continue;
+    }
+    return &sensor;
+  }
+
+  for (const auto & sensor : profile.sensors) {
+    if (!sensor.enabled) {
+      continue;
+    }
+    if (require_intrinsic && !sensor.supports_intrinsic_calibration) {
+      continue;
+    }
+    if (require_extrinsic && !sensor.supports_extrinsic_calibration) {
+      continue;
+    }
+    return &sensor;
+  }
+
+  return nullptr;
+}
+
+std::string resolve_intrinsic_subtype(const SensorProfile & sensor)
+{
+  if (sensor.sensor_type.value == SensorType::IMU) {
+    return "imu_intrinsic";
+  }
+  if (sensor.camera_mount_type.value == CameraMountType::DOWNWARD_MOUNTED ||
+    sensor.sensor_type.value == SensorType::DOWNWARD_CAMERA)
+  {
+    return "downward_camera_intrinsic";
+  }
+  return "front_camera_intrinsic";
+}
+
+std::string resolve_extrinsic_subtype(const SensorProfile & sensor)
+{
+  if (sensor.sensor_type.value == SensorType::IMU) {
+    return "imu_extrinsic";
+  }
+  if (sensor.sensor_type.value == SensorType::LIDAR_2D) {
+    return "lidar_2d_extrinsic";
+  }
+  if (sensor.sensor_type.value == SensorType::LIDAR_3D) {
+    return "lidar_3d_extrinsic";
+  }
+  if (sensor.camera_mount_type.value == CameraMountType::DOWNWARD_MOUNTED ||
+    sensor.sensor_type.value == SensorType::DOWNWARD_CAMERA)
+  {
+    return "downward_camera_extrinsic";
+  }
+  return "front_camera_extrinsic";
+}
+
+std::string resolve_hand_eye_subtype(const SensorProfile & sensor)
+{
+  if (sensor.camera_mount_type.value == CameraMountType::EYE_TO_HAND) {
+    return "eye_to_hand";
+  }
+  return "eye_in_hand";
+}
+
+void apply_default_external_metadata(StagePlan & stage)
+{
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_STATIC_SAMPLE_COUNT, "10");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_DYNAMIC_SAMPLE_COUNT, "20");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_REQUIRE_SHORT_MOTION_SEGMENT, "true");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_MAX_POSITION_STDDEV_M, "0.05");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_MAX_YAW_STDDEV_RAD, "0.05");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_MAX_TRACKING_LOSS_RATIO, "0.05");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_MAX_TIME_SYNC_OFFSET_MS, "50.0");
+  add_metadata_if_missing(stage, metadata_keys::EXTERNAL_TIMEOUT_SEC, "30.0");
+}
+
+void apply_default_chassis_metadata(StagePlan & stage)
+{
+  add_metadata_if_missing(stage, metadata_keys::CHASSIS_PRIMITIVE_TYPE, "straight_line");
+  add_metadata_if_missing(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_DISTANCE_M, "2.0");
+  add_metadata_if_missing(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_SPEED_MS, "0.5");
+  add_metadata_if_missing(stage, metadata_keys::COMMON_BRAKE_WHEN_FINISHED, "true");
+  add_metadata_if_missing(stage, metadata_keys::COMMON_TIMEOUT_SEC, "60.0");
+}
+
+void apply_default_control_metadata(StagePlan & stage)
+{
+  add_metadata_if_missing(stage, metadata_keys::CONTROL_TASK_TYPE, "trajectory_tracking");
+  add_metadata_if_missing(stage, metadata_keys::CONTROL_STOP_AT_END, "true");
+  add_metadata_if_missing(stage, metadata_keys::CONTROL_TIMEOUT_SEC, "60.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "0_x_m", "0.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "0_y_m", "0.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "0_yaw_rad", "0.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "0_speed_ms", "0.3");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "1_x_m", "2.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "1_y_m", "0.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "1_yaw_rad", "0.0");
+  add_metadata_if_missing(stage, std::string(metadata_keys::CONTROL_TRAJECTORY_PREFIX) + "1_speed_ms", "0.3");
+}
+
+void apply_default_sensor_intrinsic_metadata(StagePlan & stage, const VehicleProfile & profile)
+{
+  const auto * sensor = find_default_sensor(profile, true, false);
+  if (!sensor) {
+    return;
+  }
+
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_ID, sensor->sensor_id);
+  const auto subtype = resolve_intrinsic_subtype(*sensor);
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_TASK_SUBTYPE, subtype);
+
+  if (subtype == "imu_intrinsic") {
+    add_metadata_if_missing(stage, metadata_keys::IMU_INTRINSIC_REQUIRED_STATIC_SEGMENT_COUNT, "5");
+    add_metadata_if_missing(stage, metadata_keys::IMU_INTRINSIC_REQUIRED_MOTION_SEGMENT_COUNT, "5");
+    add_metadata_if_missing(stage, metadata_keys::IMU_INTRINSIC_TIMEOUT_SEC, "120.0");
+    return;
+  }
+
+  add_metadata_if_missing(stage, metadata_keys::CAMERA_INTRINSIC_REQUIRED_IMAGE_COUNT, "20");
+  add_metadata_if_missing(stage, metadata_keys::CAMERA_INTRINSIC_TIMEOUT_SEC, "120.0");
+}
+
+void apply_default_sensor_extrinsic_metadata(StagePlan & stage, const VehicleProfile & profile)
+{
+  const auto * sensor = find_default_sensor(profile, false, true);
+  if (!sensor) {
+    return;
+  }
+
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_ID, sensor->sensor_id);
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_TASK_SUBTYPE, resolve_extrinsic_subtype(*sensor));
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_EXTRINSIC_BASE_FRAME_ID,
+    profile.base_link_frame.empty() ? "base_link" : profile.base_link_frame);
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_EXTRINSIC_REQUIRED_SAMPLE_COUNT, "10");
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_EXTRINSIC_TIMEOUT_SEC, "180.0");
+}
+
+void apply_default_hand_eye_metadata(StagePlan & stage, const VehicleProfile & profile)
+{
+  if (!profile.arm_profile.has_mechanical_arm || profile.arm_profile.arm_id.empty()) {
+    return;
+  }
+
+  const auto * sensor = find_default_sensor(profile, false, true);
+  if (!sensor) {
+    return;
+  }
+
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_ID, sensor->sensor_id);
+  add_metadata_if_missing(stage, metadata_keys::SENSOR_TASK_SUBTYPE, resolve_hand_eye_subtype(*sensor));
+  add_metadata_if_missing(stage, metadata_keys::HAND_EYE_ARM_ID, profile.arm_profile.arm_id);
+  add_metadata_if_missing(stage, metadata_keys::HAND_EYE_REQUIRED_POSE_COUNT, "12");
+  add_metadata_if_missing(stage, metadata_keys::HAND_EYE_TIMEOUT_SEC, "180.0");
+}
+
+}  // namespace
+
 bool PlanBuilder::has_capability(const VehicleProfile & profile, uint8_t ability_type) const
 {
   for (const auto & cap : profile.capabilities) {
@@ -123,25 +313,28 @@ std::string PlanBuilder::make_task_suffix(const std::string & task_code) const
   return suffix;
 }
 
-StagePlan PlanBuilder::make_stage_for_task(int order_index, const RequestedCalibrationTask & task) const
+StagePlan PlanBuilder::make_stage_for_task(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask & task) const
 {
   if (task.stage_type.value == WorkflowStageType::CHASSIS_CALIBRATION_STAGE) {
-    return make_chassis_stage(order_index, &task);
+    return make_chassis_stage(order_index, profile, &task);
   }
   if (task.stage_type.value == WorkflowStageType::CONTROL_CALIBRATION_STAGE) {
-    return make_control_stage(order_index, &task);
+    return make_control_stage(order_index, profile, &task);
   }
   if (task.stage_type.value == WorkflowStageType::SENSOR_INTRINSIC_CALIBRATION_STAGE) {
-    return make_sensor_intrinsic_stage(order_index, &task);
+    return make_sensor_intrinsic_stage(order_index, profile, &task);
   }
   if (task.stage_type.value == WorkflowStageType::SENSOR_EXTRINSIC_CALIBRATION_STAGE) {
-    return make_sensor_extrinsic_stage(order_index, &task);
+    return make_sensor_extrinsic_stage(order_index, profile, &task);
   }
   if (task.stage_type.value == WorkflowStageType::HAND_EYE_CALIBRATION_STAGE) {
-    return make_hand_eye_stage(order_index, &task);
+    return make_hand_eye_stage(order_index, profile, &task);
   }
   if (task.stage_type.value == WorkflowStageType::EXTERNAL_REFERENCE_READY_CHECK_STAGE) {
-    return make_external_reference_stage(order_index, &task);
+    return make_external_reference_stage(order_index, profile, &task);
   }
 
   StagePlan stage;
@@ -196,18 +389,19 @@ std::vector<StagePlan> PlanBuilder::build_minimal_plan(
             continue;
           }
         }
-        stages.push_back(make_stage_for_task(order++, task));
+        stages.push_back(make_stage_for_task(order++, profile, task));
       }
     }
     return stages;
   }
 
-  // 外部真值校核：始终加入（除非 requested_tasks 中显式 enabled=false）。
+  // 外部真值校核：默认依赖 external localization 能力；若 requested_tasks 显式要求则仍可纳入。
   if (should_include_stage(profile, config,
-        WorkflowStageType::EXTERNAL_REFERENCE_READY_CHECK_STAGE, 0)) {
+        WorkflowStageType::EXTERNAL_REFERENCE_READY_CHECK_STAGE,
+        CalibrationAbilityType::EXTERNAL_LOCALIZATION_CALIBRATION)) {
     const auto * task_cfg = find_requested_task(config,
       WorkflowStageType::EXTERNAL_REFERENCE_READY_CHECK_STAGE);
-    stages.push_back(make_external_reference_stage(order++, task_cfg));
+    stages.push_back(make_external_reference_stage(order++, profile, task_cfg));
   }
 
   // 底盘标定。
@@ -216,7 +410,7 @@ std::vector<StagePlan> PlanBuilder::build_minimal_plan(
         CalibrationAbilityType::CHASSIS_CALIBRATION)) {
     const auto * task_cfg = find_requested_task(config,
       WorkflowStageType::CHASSIS_CALIBRATION_STAGE);
-    stages.push_back(make_chassis_stage(order++, task_cfg));
+    stages.push_back(make_chassis_stage(order++, profile, task_cfg));
   }
 
   // 运控参数标定。
@@ -225,7 +419,7 @@ std::vector<StagePlan> PlanBuilder::build_minimal_plan(
         CalibrationAbilityType::CONTROL_CALIBRATION)) {
     const auto * task_cfg = find_requested_task(config,
       WorkflowStageType::CONTROL_CALIBRATION_STAGE);
-    stages.push_back(make_control_stage(order++, task_cfg));
+    stages.push_back(make_control_stage(order++, profile, task_cfg));
   }
 
   // 传感器内参标定。
@@ -234,7 +428,7 @@ std::vector<StagePlan> PlanBuilder::build_minimal_plan(
         CalibrationAbilityType::SENSOR_CALIBRATION)) {
     const auto * task_cfg = find_requested_task(config,
       WorkflowStageType::SENSOR_INTRINSIC_CALIBRATION_STAGE);
-    stages.push_back(make_sensor_intrinsic_stage(order++, task_cfg));
+    stages.push_back(make_sensor_intrinsic_stage(order++, profile, task_cfg));
   }
 
   // 传感器外参标定。
@@ -243,7 +437,7 @@ std::vector<StagePlan> PlanBuilder::build_minimal_plan(
         CalibrationAbilityType::SENSOR_CALIBRATION)) {
     const auto * task_cfg = find_requested_task(config,
       WorkflowStageType::SENSOR_EXTRINSIC_CALIBRATION_STAGE);
-    stages.push_back(make_sensor_extrinsic_stage(order++, task_cfg));
+    stages.push_back(make_sensor_extrinsic_stage(order++, profile, task_cfg));
   }
 
   // 手眼标定。
@@ -252,13 +446,16 @@ std::vector<StagePlan> PlanBuilder::build_minimal_plan(
         CalibrationAbilityType::HAND_EYE_CALIBRATION)) {
     const auto * task_cfg = find_requested_task(config,
       WorkflowStageType::HAND_EYE_CALIBRATION_STAGE);
-    stages.push_back(make_hand_eye_stage(order++, task_cfg));
+    stages.push_back(make_hand_eye_stage(order++, profile, task_cfg));
   }
 
   return stages;
 }
 
-StagePlan PlanBuilder::make_external_reference_stage(int order_index, const RequestedCalibrationTask * task_cfg) const
+StagePlan PlanBuilder::make_external_reference_stage(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask * task_cfg) const
 {
   StagePlan stage;
   stage.stage_id = "stage_external_reference";
@@ -270,11 +467,19 @@ StagePlan PlanBuilder::make_external_reference_stage(int order_index, const Requ
   stage.description = "验证并接入车间外部定位真值参考源。需要 session.config 提供 localization_source_id/workcell_zone_id；stage.metadata 需要提供 external.static_sample_count、external.dynamic_sample_count、external.max_position_stddev_m、external.max_yaw_stddev_rad、external.max_tracking_loss_ratio、external.max_time_sync_offset_ms、external.timeout_sec。";
   stage.retry_limit = 0;
   stage.auto_generated = true;
+  apply_default_external_metadata(stage);
   apply_task_config(stage, task_cfg);
+  if (task_cfg) {
+    stage.stage_id += make_task_suffix(task_cfg->task_code);
+    apply_task_identity(stage, *task_cfg);
+  }
   return stage;
 }
 
-StagePlan PlanBuilder::make_chassis_stage(int order_index, const RequestedCalibrationTask * task_cfg) const
+StagePlan PlanBuilder::make_chassis_stage(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask * task_cfg) const
 {
   StagePlan stage;
   stage.stage_id = "stage_chassis_calibration";
@@ -283,9 +488,10 @@ StagePlan PlanBuilder::make_chassis_stage(int order_index, const RequestedCalibr
   stage.display_name = "底盘标定";
   stage.order_index = order_index;
   stage.executor_endpoint_name = "/chassis/execute_motion_primitive";
-  stage.description = "调用独立底盘标定包执行动作原语任务。stage.metadata 需要提供 primitive_type；当前最小流支持 straight_line，并要求 straight_line.target_distance_m、straight_line.target_speed_ms；可选 straight_line.reverse、brake_when_finished、timeout_sec。";
+  stage.description = "调用独立底盘标定包执行动作原语任务。stage.metadata 需要提供 primitive_type；支持 straight_line、arc、in_place_rotation、steering_sweep、lateral_translation、diagonal_motion、module_alignment、coordinated_steering。各动作分别消费对应 metadata 参数，并通用支持 brake_when_finished、timeout_sec。";
   stage.retry_limit = 1;
   stage.auto_generated = true;
+  apply_default_chassis_metadata(stage);
   apply_task_config(stage, task_cfg);
   if (task_cfg) {
     stage.stage_id += make_task_suffix(task_cfg->task_code);
@@ -294,7 +500,10 @@ StagePlan PlanBuilder::make_chassis_stage(int order_index, const RequestedCalibr
   return stage;
 }
 
-StagePlan PlanBuilder::make_control_stage(int order_index, const RequestedCalibrationTask * task_cfg) const
+StagePlan PlanBuilder::make_control_stage(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask * task_cfg) const
 {
   StagePlan stage;
   stage.stage_id = "stage_control_calibration";
@@ -303,9 +512,10 @@ StagePlan PlanBuilder::make_control_stage(int order_index, const RequestedCalibr
   stage.display_name = "运控参数调优";
   stage.order_index = order_index;
   stage.executor_endpoint_name = "/control/execute_controller_evaluation";
-  stage.description = "调用独立运控标定包执行控制评估任务。stage.metadata 需要提供 control.task_type；当前最小流支持 trajectory_tracking，并要求至少一组 traj_pt_{i}_{x_m|y_m|yaw_rad|speed_ms} 轨迹点。";
+  stage.description = "调用独立运控标定包执行控制评估任务。stage.metadata 需要提供 control.task_type；支持 trajectory_tracking、velocity_step、accel_decel、stop_accuracy。trajectory_tracking 需提供 traj_pt_{i}_{x_m|y_m|yaw_rad|speed_ms}，其余任务需提供各自目标速度、加速度、停车目标与 timeout 等参数。";
   stage.retry_limit = 0;
   stage.auto_generated = true;
+  apply_default_control_metadata(stage);
   apply_task_config(stage, task_cfg);
   if (task_cfg) {
     stage.stage_id += make_task_suffix(task_cfg->task_code);
@@ -314,7 +524,10 @@ StagePlan PlanBuilder::make_control_stage(int order_index, const RequestedCalibr
   return stage;
 }
 
-StagePlan PlanBuilder::make_sensor_intrinsic_stage(int order_index, const RequestedCalibrationTask * task_cfg) const
+StagePlan PlanBuilder::make_sensor_intrinsic_stage(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask * task_cfg) const
 {
   StagePlan stage;
   stage.stage_id = "stage_sensor_intrinsic_calibration";
@@ -323,9 +536,10 @@ StagePlan PlanBuilder::make_sensor_intrinsic_stage(int order_index, const Reques
   stage.display_name = "传感器内参标定";
   stage.order_index = order_index;
   stage.executor_endpoint_name = "/sensor_calibration/execute_task";
-  stage.description = "启动独立传感器标定包执行内参标定任务。stage.metadata 需要提供 sensor.sensor_id、camera_intrinsic.required_image_count；可选 camera_intrinsic.target_board_id、camera_intrinsic.timeout_sec。";
+  stage.description = "启动独立传感器标定包执行内参标定任务。stage.metadata 需要提供 sensor.sensor_id、sensor.task_subtype；相机内参任务需提供 camera_intrinsic.required_image_count，可选 target_board_id/timeout_sec；IMU 内参任务需提供 imu_intrinsic.required_static_segment_count、imu_intrinsic.required_motion_segment_count，可选 imu_intrinsic.timeout_sec。";
   stage.retry_limit = 0;
   stage.auto_generated = true;
+  apply_default_sensor_intrinsic_metadata(stage, profile);
   apply_task_config(stage, task_cfg);
   if (task_cfg) {
     stage.stage_id += make_task_suffix(task_cfg->task_code);
@@ -334,7 +548,10 @@ StagePlan PlanBuilder::make_sensor_intrinsic_stage(int order_index, const Reques
   return stage;
 }
 
-StagePlan PlanBuilder::make_sensor_extrinsic_stage(int order_index, const RequestedCalibrationTask * task_cfg) const
+StagePlan PlanBuilder::make_sensor_extrinsic_stage(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask * task_cfg) const
 {
   StagePlan stage;
   stage.stage_id = "stage_sensor_extrinsic_calibration";
@@ -346,6 +563,7 @@ StagePlan PlanBuilder::make_sensor_extrinsic_stage(int order_index, const Reques
   stage.description = "启动独立传感器标定包执行外参标定任务。stage.metadata 需要提供 sensor.sensor_id、sensor_extrinsic.base_frame_id、sensor_extrinsic.required_sample_count；可选 sensor_extrinsic.timeout_sec。";
   stage.retry_limit = 0;
   stage.auto_generated = true;
+  apply_default_sensor_extrinsic_metadata(stage, profile);
   apply_task_config(stage, task_cfg);
   if (task_cfg) {
     stage.stage_id += make_task_suffix(task_cfg->task_code);
@@ -354,7 +572,10 @@ StagePlan PlanBuilder::make_sensor_extrinsic_stage(int order_index, const Reques
   return stage;
 }
 
-StagePlan PlanBuilder::make_hand_eye_stage(int order_index, const RequestedCalibrationTask * task_cfg) const
+StagePlan PlanBuilder::make_hand_eye_stage(
+  int order_index,
+  const VehicleProfile & profile,
+  const RequestedCalibrationTask * task_cfg) const
 {
   StagePlan stage;
   stage.stage_id = "stage_hand_eye_calibration";
@@ -366,6 +587,7 @@ StagePlan PlanBuilder::make_hand_eye_stage(int order_index, const RequestedCalib
   stage.description = "启动独立传感器标定包执行手眼标定任务。stage.metadata 需要提供 sensor.sensor_id、hand_eye.arm_id、hand_eye.required_pose_count；可选 hand_eye.timeout_sec。";
   stage.retry_limit = 0;
   stage.auto_generated = true;
+  apply_default_hand_eye_metadata(stage, profile);
   apply_task_config(stage, task_cfg);
   if (task_cfg) {
     stage.stage_id += make_task_suffix(task_cfg->task_code);
diff --git a/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp
new file mode 100644
index 0000000..227626e
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/precheck_runner.cpp
@@ -0,0 +1,263 @@
+#include "workshop_orchestrator_v2/precheck_runner.hpp"
+
+#include "calibration_workshop_orchestration_interfaces/msg/precheck_item.hpp"
+
+namespace workshop_orchestrator_v2
+{
+
+bool PrecheckRunner::has_metadata_key(const StagePlan & stage, const std::string & key) const
+{
+  for (const auto & kv : stage.metadata) {
+    if (kv.key == key) {
+      return true;
+    }
+  }
+  return false;
+}
+
+bool PrecheckRunner::has_metadata_prefix(const StagePlan & stage, const std::string & prefix) const
+{
+  for (const auto & kv : stage.metadata) {
+    if (kv.key.rfind(prefix, 0) == 0) {
+      return true;
+    }
+  }
+  return false;
+}
+
+WorkshopPrecheckResponse PrecheckRunner::run(const WorkshopSession & session) const
+{
+  WorkshopPrecheckResponse response;
+  response.success = true;
+  response.error_code = make_error_code(ErrorCode::OK);
+  response.checked_timestamp_us = now_us();
+
+  auto append_item = [&](const std::string & code,
+                         const std::string & name,
+                         bool passed,
+                         const std::string & message,
+                         uint8_t stage_type,
+                         uint8_t module_type) {
+    calibration_workshop_orchestration_interfaces::msg::PrecheckItem item;
+    item.item_code = code;
+    item.display_name = name;
+    item.passed = passed;
+    item.blocking = true;
+    item.error_code = make_error_code(passed ? ErrorCode::OK : ErrorCode::INVALID_STATE);
+    item.message = message;
+    item.related_stage_type = make_stage_type(stage_type);
+    item.related_module_type = make_module_type(module_type);
+    response.items.push_back(item);
+    if (!passed) {
+      response.blocking_issue_count += 1;
+      response.all_passed = false;
+    }
+  };
+
+  response.all_passed = true;
+  response.blocking_issue_count = 0;
+
+  append_item(
+    "plan_not_empty",
+    "Execution plan exists",
+    !session.stage_plan.empty(),
+    session.stage_plan.empty() ? "Session has no executable stages." : "Session has executable stages.",
+    WorkflowStageType::WORKFLOW_STAGE_UNSPECIFIED,
+    CalibrationModuleType::CALIBRATION_MODULE_UNSPECIFIED);
+
+  for (const auto & stage : session.stage_plan) {
+    if (stage.module_type.value == CalibrationModuleType::CHASSIS_MODULE) {
+      const bool has_primitive_type = has_metadata_key(stage, metadata_keys::CHASSIS_PRIMITIVE_TYPE);
+      bool passed = false;
+      std::string message = "底盘阶段缺少 primitive_type。";
+
+      if (has_primitive_type) {
+        std::string primitive_type;
+        for (const auto & kv : stage.metadata) {
+          if (kv.key == metadata_keys::CHASSIS_PRIMITIVE_TYPE) {
+            primitive_type = kv.value;
+            break;
+          }
+        }
+
+        if (primitive_type == "straight_line") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_DISTANCE_M) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_SPEED_MS);
+          message = passed ? "底盘直行动作输入完整。" : "straight_line 缺少距离或速度参数。";
+        } else if (primitive_type == "arc") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_ARC_SPEED_MS) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_ARC_RADIUS_M) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_ARC_SWEEP_ANGLE_DEG);
+          message = passed ? "底盘圆弧动作输入完整。" : "arc 缺少速度、半径或扫角参数。";
+        } else if (primitive_type == "in_place_rotation") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_ROTATION_TARGET_YAW_DEG) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_ROTATION_TARGET_ANGULAR_VEL_DEG_S);
+          message = passed ? "原地旋转动作输入完整。" : "in_place_rotation 缺少角度或角速度参数。";
+        } else if (primitive_type == "steering_sweep") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_STEERING_SWEEP_TARGET_ANGLE_DEG) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_STEERING_SWEEP_AMPLITUDE_DEG) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_STEERING_SWEEP_FREQUENCY_HZ) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_STEERING_SWEEP_DURATION_SEC);
+          message = passed ? "舵角扫动动作输入完整。" : "steering_sweep 缺少目标角、幅值、频率或持续时间。";
+        } else if (primitive_type == "lateral_translation") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_LATERAL_SPEED_MS) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_LATERAL_DISTANCE_M);
+          message = passed ? "横移动作输入完整。" : "lateral_translation 缺少速度或距离参数。";
+        } else if (primitive_type == "diagonal_motion") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_DIAGONAL_SPEED_MS) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_DIAGONAL_DISTANCE_M) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_DIAGONAL_HEADING_DEG);
+          message = passed ? "斜移动作输入完整。" : "diagonal_motion 缺少速度、距离或方向角参数。";
+        } else if (primitive_type == "module_alignment") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_MODULE_ALIGNMENT_IDS) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_MODULE_ALIGNMENT_ZERO_DEG) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_MODULE_ALIGNMENT_TOLERANCE_DEG);
+          message = passed ? "模块零位检查输入完整。" : "module_alignment 缺少模块列表、零位或容差参数。";
+        } else if (primitive_type == "coordinated_steering") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CHASSIS_COORDINATED_STEERING_IDS) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_COORDINATED_STEERING_TARGET_ANGLE_DEG) &&
+            has_metadata_key(stage, metadata_keys::CHASSIS_COORDINATED_STEERING_HOLD_TIME_SEC);
+          message = passed ? "协同转向动作输入完整。" : "coordinated_steering 缺少模块列表、目标角或保持时间参数。";
+        } else {
+          message = "底盘阶段 primitive_type 不受支持。";
+        }
+      }
+
+      append_item(
+        stage.stage_id + ".metadata",
+        stage.display_name + " metadata",
+        passed,
+        message,
+        stage.stage_type.value,
+        stage.module_type.value);
+    } else if (stage.module_type.value == CalibrationModuleType::CONTROL_MODULE) {
+      bool has_task_type = has_metadata_key(stage, metadata_keys::CONTROL_TASK_TYPE);
+      bool passed = false;
+      std::string message = "运控阶段缺少 control.task_type。";
+      std::string task_type;
+      if (has_task_type) {
+        for (const auto & kv : stage.metadata) {
+          if (kv.key == metadata_keys::CONTROL_TASK_TYPE) {
+            task_type = kv.value;
+            break;
+          }
+        }
+
+        if (task_type == "trajectory_tracking") {
+          passed = has_metadata_prefix(stage, metadata_keys::CONTROL_TRAJECTORY_PREFIX);
+          message = passed ? "轨迹跟踪任务输入完整。" : "trajectory_tracking 缺少轨迹点输入。";
+        } else if (task_type == "velocity_step") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CONTROL_VELOCITY_STEP_TARGET_VELOCITY_MS) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_VELOCITY_STEP_HOLD_TIME_SEC) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_VELOCITY_STEP_SETTLE_BEFORE_STEP_SEC);
+          message = passed ? "速度阶跃任务输入完整。" : "velocity_step 缺少目标速度、保持时间或阶跃前静稳时间。";
+        } else if (task_type == "accel_decel") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CONTROL_ACCEL_DECEL_START_VELOCITY_MS) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_ACCEL_DECEL_TARGET_VELOCITY_MS) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_ACCEL_DECEL_TARGET_ACCEL_MS2) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_ACCEL_DECEL_HOLD_TIME_SEC);
+          message = passed ? "加减速任务输入完整。" : "accel_decel 缺少起始速度、目标速度、目标加速度或保持时间。";
+        } else if (task_type == "stop_accuracy") {
+          passed =
+            has_metadata_key(stage, metadata_keys::CONTROL_STOP_ACCURACY_X_M) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_STOP_ACCURACY_Y_M) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_STOP_ACCURACY_YAW_RAD) &&
+            has_metadata_key(stage, metadata_keys::CONTROL_TIMEOUT_SEC);
+          message = passed ? "停车精度任务输入完整。" : "stop_accuracy 缺少目标停车位姿或 control.timeout_sec。";
+        } else {
+          message = "运控阶段 control.task_type 不受支持。";
+        }
+      }
+
+      append_item(
+        stage.stage_id + ".metadata",
+        stage.display_name + " metadata",
+        passed,
+        message,
+        stage.stage_type.value,
+        stage.module_type.value);
+    } else if (
+      stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE ||
+      stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE ||
+      stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
+      bool passed =
+        has_metadata_key(stage, metadata_keys::SENSOR_ID) &&
+        has_metadata_key(stage, metadata_keys::SENSOR_TASK_SUBTYPE);
+      std::string message = passed ? "传感器阶段基础输入完整。" : "传感器阶段缺少 sensor.sensor_id 或 sensor.task_subtype。";
+
+      if (passed && stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE) {
+        std::string subtype;
+        for (const auto & kv : stage.metadata) {
+          if (kv.key == metadata_keys::SENSOR_TASK_SUBTYPE) {
+            subtype = kv.value;
+            break;
+          }
+        }
+
+        if (subtype == "imu_intrinsic") {
+          passed =
+            has_metadata_key(stage, metadata_keys::IMU_INTRINSIC_REQUIRED_STATIC_SEGMENT_COUNT) &&
+            has_metadata_key(stage, metadata_keys::IMU_INTRINSIC_REQUIRED_MOTION_SEGMENT_COUNT);
+          message = passed ? "IMU 内参阶段输入完整。" : "IMU 内参阶段缺少静止段数或运动段数。";
+        } else {
+          passed = has_metadata_key(stage, metadata_keys::CAMERA_INTRINSIC_REQUIRED_IMAGE_COUNT);
+          message = passed ? "相机内参阶段输入完整。" : "相机内参阶段缺少 required_image_count。";
+        }
+      }
+
+      if (passed && stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE) {
+        passed =
+          has_metadata_key(stage, metadata_keys::SENSOR_EXTRINSIC_BASE_FRAME_ID) &&
+          has_metadata_key(stage, metadata_keys::SENSOR_EXTRINSIC_REQUIRED_SAMPLE_COUNT);
+        message = passed ? "传感器外参阶段输入完整。" : "传感器外参阶段缺少 base_frame_id 或 required_sample_count。";
+      }
+
+      if (passed && stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
+        passed =
+          has_metadata_key(stage, metadata_keys::HAND_EYE_ARM_ID) &&
+          has_metadata_key(stage, metadata_keys::HAND_EYE_REQUIRED_POSE_COUNT);
+        message = passed ? "手眼阶段输入完整。" : "手眼阶段缺少 arm_id 或 required_pose_count。";
+      }
+
+      append_item(
+        stage.stage_id + ".metadata",
+        stage.display_name + " metadata",
+        passed,
+        message,
+        stage.stage_type.value,
+        stage.module_type.value);
+    } else if (stage.module_type.value == CalibrationModuleType::EXTERNAL_LOCALIZATION_MODULE) {
+      const bool passed =
+        has_metadata_key(stage, metadata_keys::EXTERNAL_STATIC_SAMPLE_COUNT) &&
+        has_metadata_key(stage, metadata_keys::EXTERNAL_DYNAMIC_SAMPLE_COUNT) &&
+        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_POSITION_STDDEV_M) &&
+        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_YAW_STDDEV_RAD) &&
+        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_TRACKING_LOSS_RATIO) &&
+        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_TIME_SYNC_OFFSET_MS) &&
+        has_metadata_key(stage, metadata_keys::EXTERNAL_TIMEOUT_SEC);
+      append_item(
+        stage.stage_id + ".metadata",
+        stage.display_name + " metadata",
+        passed,
+        passed ? "external 阶段输入完整。" : "external 阶段缺少真值校核阈值配置。",
+        stage.stage_type.value,
+        stage.module_type.value);
+    }
+  }
+
+  response.ready_for_start = response.all_passed;
+  response.message = response.ready_for_start ? "Precheck passed." : "Precheck failed.";
+  return response;
+}
+
+}  // namespace workshop_orchestrator_v2
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/report_builder.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/report_builder.cpp
similarity index 81%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/report_builder.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/report_builder.cpp
index 021d469..a77e063 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/report_builder.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/report_builder.cpp
@@ -60,12 +60,30 @@ WorkshopReport ReportBuilder::build(
   kv.value = overall_success ? "true" : "false";
   report.metadata.push_back(kv);
 
+  kv.key = "workshop_line_id";
+  kv.value = session.workshop_line_id;
+  report.metadata.push_back(kv);
+
+  kv.key = "vehicle_id";
+  kv.value = session.vehicle_profile_snapshot.base_info.vehicle_id;
+  report.metadata.push_back(kv);
+
+  kv.key = "operator_id";
+  kv.value = session.operator_info.operator_id;
+  report.metadata.push_back(kv);
+
   if (!report.active_parameter_bundle_version.empty()) {
     kv.key = "active_parameter_bundle_version";
     kv.value = report.active_parameter_bundle_version;
     report.metadata.push_back(kv);
   }
 
+  if (!stage_results.empty()) {
+    kv.key = "last_stage_id";
+    kv.value = stage_results.back().stage_id;
+    report.metadata.push_back(kv);
+  }
+
   return report;
 }
 
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp
similarity index 86%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp
index 284c210..5e2b13c 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/sensor_gateway_client.cpp
@@ -86,17 +86,32 @@ uint8_t SensorGatewayClient::resolve_task_type(
   const StagePlan & stage,
   std::string & failure_reason) const
 {
-  switch (stage.module_type.value) {
-    case CalibrationModuleType::SENSOR_INTRINSIC_MODULE:
-      return SensorCalibrationTaskType::CAMERA_INTRINSIC;
-    case CalibrationModuleType::SENSOR_EXTRINSIC_MODULE:
-      return SensorCalibrationTaskType::SENSOR_TO_BASE_EXTRINSIC;
-    case CalibrationModuleType::HAND_EYE_MODULE:
-      return SensorCalibrationTaskType::HAND_EYE;
-    default:
-      failure_reason = "当前传感器阶段未映射到具体标定任务类型。";
+  if (stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE) {
+    std::unordered_map<std::string, std::string> metadata_map;
+    for (const auto & kv : stage.metadata) {
+      metadata_map[kv.key] = kv.value;
+    }
+
+    const auto subtype_it = metadata_map.find(metadata_keys::SENSOR_TASK_SUBTYPE);
+    if (subtype_it == metadata_map.end()) {
+      failure_reason = "传感器内参阶段缺少 sensor.task_subtype。";
       return SensorCalibrationTaskType::SENSOR_CALIBRATION_TASK_TYPE_UNSPECIFIED;
+    }
+
+    if (subtype_it->second == "imu_intrinsic") {
+      return SensorCalibrationTaskType::IMU_INTRINSIC;
+    }
+    return SensorCalibrationTaskType::CAMERA_INTRINSIC;
   }
+  if (stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE) {
+    return SensorCalibrationTaskType::SENSOR_TO_BASE_EXTRINSIC;
+  }
+  if (stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
+    return SensorCalibrationTaskType::HAND_EYE;
+  }
+
+  failure_reason = "当前传感器阶段未映射到具体标定任务类型。";
+  return SensorCalibrationTaskType::SENSOR_CALIBRATION_TASK_TYPE_UNSPECIFIED;
 }
 
 uint8_t resolve_task_subtype_from_metadata(
@@ -151,8 +166,10 @@ bool task_and_subtype_match(
 {
   if (task_type == SensorCalibrationTaskType::CAMERA_INTRINSIC) {
     return task_subtype == SensorCalibrationTaskSubtype::FRONT_CAMERA_INTRINSIC ||
-           task_subtype == SensorCalibrationTaskSubtype::DOWNWARD_CAMERA_INTRINSIC ||
-           task_subtype == SensorCalibrationTaskSubtype::IMU_INTRINSIC;
+           task_subtype == SensorCalibrationTaskSubtype::DOWNWARD_CAMERA_INTRINSIC;
+  }
+  if (task_type == SensorCalibrationTaskType::IMU_INTRINSIC) {
+    return task_subtype == SensorCalibrationTaskSubtype::IMU_INTRINSIC;
   }
   if (task_type == SensorCalibrationTaskType::SENSOR_TO_BASE_EXTRINSIC) {
     return task_subtype == SensorCalibrationTaskSubtype::FRONT_CAMERA_EXTRINSIC ||
@@ -238,6 +255,33 @@ bool SensorGatewayClient::build_goal(
         return false;
       }
     }
+    goal.goal.camera_intrinsic.reference_target.reference_target_id = stage.stage_id;
+  } else if (selected_task_type == SensorCalibrationTaskType::IMU_INTRINSIC) {
+    goal.goal.imu_intrinsic.sensor_id = sensor_id_it->second;
+    const auto static_count_it = metadata_map.find(metadata_keys::IMU_INTRINSIC_REQUIRED_STATIC_SEGMENT_COUNT);
+    const auto motion_count_it = metadata_map.find(metadata_keys::IMU_INTRINSIC_REQUIRED_MOTION_SEGMENT_COUNT);
+    if (static_count_it == metadata_map.end() || motion_count_it == metadata_map.end()) {
+      failure_reason = "imu_intrinsic 缺少 required_static_segment_count 或 required_motion_segment_count。";
+      return false;
+    }
+    try {
+      goal.goal.imu_intrinsic.required_static_segment_count =
+        static_cast<uint32_t>(std::stoul(static_count_it->second));
+      goal.goal.imu_intrinsic.required_motion_segment_count =
+        static_cast<uint32_t>(std::stoul(motion_count_it->second));
+    } catch (...) {
+      failure_reason = "imu_intrinsic 参数格式错误。";
+      return false;
+    }
+    const auto timeout_it = metadata_map.find(metadata_keys::IMU_INTRINSIC_TIMEOUT_SEC);
+    if (timeout_it != metadata_map.end()) {
+      try {
+        goal.goal.imu_intrinsic.timeout_sec = std::stod(timeout_it->second);
+      } catch (...) {
+        failure_reason = "imu_intrinsic.timeout_sec 格式错误。";
+        return false;
+      }
+    }
   } else if (selected_task_type == SensorCalibrationTaskType::SENSOR_TO_BASE_EXTRINSIC) {
     goal.goal.sensor_to_base_extrinsic.sensor_id = sensor_id_it->second;
     const auto base_frame_it = metadata_map.find(metadata_keys::SENSOR_EXTRINSIC_BASE_FRAME_ID);
@@ -266,6 +310,7 @@ bool SensorGatewayClient::build_goal(
         return false;
       }
     }
+    goal.goal.sensor_to_base_extrinsic.reference_target.reference_target_id = stage.stage_id;
 
     if (task_subtype == SensorCalibrationTaskSubtype::FRONT_CAMERA_EXTRINSIC ||
       task_subtype == SensorCalibrationTaskSubtype::DOWNWARD_CAMERA_EXTRINSIC)
@@ -310,6 +355,7 @@ bool SensorGatewayClient::build_goal(
         return false;
       }
     }
+    goal.goal.hand_eye.reference_target.reference_target_id = stage.stage_id;
 
     if (task_subtype == SensorCalibrationTaskSubtype::EYE_IN_HAND) {
       goal.goal.hand_eye.mode.value = HandEyeCalibrationMode::EYE_IN_HAND;
diff --git a/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/wifi6_link_client.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/wifi6_link_client.cpp
new file mode 100644
index 0000000..849e6e2
--- /dev/null
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/wifi6_link_client.cpp
@@ -0,0 +1,283 @@
+#include "workshop_orchestrator_v2/wifi6_link_client.hpp"
+
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cstring>
+#include <sstream>
+#include <utility>
+
+#include "nlohmann/json.hpp"
+#include "workshop_orchestrator_v2/types.hpp"
+
+namespace workshop_orchestrator_v2
+{
+
+namespace
+{
+
+void write_le32(uint8_t * buf, uint32_t value)
+{
+  buf[0] = static_cast<uint8_t>(value & 0xFF);
+  buf[1] = static_cast<uint8_t>((value >> 8) & 0xFF);
+  buf[2] = static_cast<uint8_t>((value >> 16) & 0xFF);
+  buf[3] = static_cast<uint8_t>((value >> 24) & 0xFF);
+}
+
+uint32_t read_le32(const uint8_t * buf)
+{
+  return static_cast<uint32_t>(buf[0]) |
+         (static_cast<uint32_t>(buf[1]) << 8) |
+         (static_cast<uint32_t>(buf[2]) << 16) |
+         (static_cast<uint32_t>(buf[3]) << 24);
+}
+
+bool write_all(int fd, const uint8_t * buf, size_t len)
+{
+  size_t written = 0;
+  while (written < len) {
+    const ssize_t n = ::write(fd, buf + written, len - written);
+    if (n <= 0) {
+      return false;
+    }
+    written += static_cast<size_t>(n);
+  }
+  return true;
+}
+
+bool read_all(int fd, uint8_t * buf, size_t len)
+{
+  size_t got = 0;
+  while (got < len) {
+    const ssize_t n = ::read(fd, buf + got, len - got);
+    if (n <= 0) {
+      return false;
+    }
+    got += static_cast<size_t>(n);
+  }
+  return true;
+}
+
+int connect_tcp(const std::string & host, uint16_t port, int timeout_ms)
+{
+  const int fd = ::socket(AF_INET, SOCK_STREAM, 0);
+  if (fd < 0) {
+    return -1;
+  }
+
+  struct timeval tv;
+  tv.tv_sec = timeout_ms / 1000;
+  tv.tv_usec = (timeout_ms % 1000) * 1000;
+  ::setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+  ::setsockopt(fd, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
+
+  struct sockaddr_in addr;
+  std::memset(&addr, 0, sizeof(addr));
+  addr.sin_family = AF_INET;
+  addr.sin_port = htons(port);
+  if (::inet_pton(AF_INET, host.c_str(), &addr.sin_addr) <= 0) {
+    ::close(fd);
+    return -1;
+  }
+  if (::connect(fd, reinterpret_cast<struct sockaddr *>(&addr), sizeof(addr)) < 0) {
+    ::close(fd);
+    return -1;
+  }
+  return fd;
+}
+
+std::string endpoint_string(const std::string & host, uint16_t port)
+{
+  std::ostringstream oss;
+  oss << host << ":" << port;
+  return oss.str();
+}
+
+std::string readiness_payload(const std::string & agent_name)
+{
+  nlohmann::json request;
+  request["agent_name"] = agent_name;
+  request["include_details"] = true;
+  request["target_resource_ids"] = nlohmann::json::array();
+  return request.dump();
+}
+
+std::string external_pose_probe_payload()
+{
+  nlohmann::json request;
+  request["hardware_timestamp_us"] = now_us();
+  request["pose_valid"] = false;
+  request["workshop_pose"] = {
+    {"x_m", 0.0},
+    {"y_m", 0.0},
+    {"z_m", 0.0},
+    {"roll_rad", 0.0},
+    {"pitch_rad", 0.0},
+    {"yaw_rad", 0.0},
+  };
+  request["position_stddev_m"] = 0.0;
+  request["yaw_stddev_rad"] = 0.0;
+  request["tracking_loss_ratio"] = 0.0;
+  request["time_sync_offset_ms"] = 0.0;
+  request["quality_score"] = 1.0;
+  request["observed_target_count"] = 0;
+  request["reference_source_name"] = "workshop_orchestrator_precheck";
+  request["active_job_id"] = "wifi6_link_precheck";
+  return request.dump();
+}
+
+bool json_bool(const nlohmann::json & payload, const std::string & key, bool default_value)
+{
+  const auto it = payload.find(key);
+  if (it == payload.end() || !it->is_boolean()) {
+    return default_value;
+  }
+  return it->get<bool>();
+}
+
+std::string json_message(const nlohmann::json & payload, const std::string & fallback)
+{
+  const auto it = payload.find("message");
+  if (it == payload.end() || !it->is_string() || it->get<std::string>().empty()) {
+    return fallback;
+  }
+  return it->get<std::string>();
+}
+
+bool optional_bool_passed(
+  const nlohmann::json & payload,
+  const std::string & key,
+  std::string & failure_reason)
+{
+  const auto it = payload.find(key);
+  if (it == payload.end() || !it->is_boolean() || it->get<bool>()) {
+    return true;
+  }
+  failure_reason = key + "=false";
+  return false;
+}
+
+}  // namespace
+
+Wifi6LinkClient::Wifi6LinkClient(Config config)
+: config_(std::move(config))
+{
+}
+
+Wifi6LinkClient::CheckResult Wifi6LinkClient::send_json_request(
+  FrameType request_type,
+  FrameType response_type,
+  const std::string & request_payload,
+  const std::string & link_name) const
+{
+  const int fd = connect_tcp(config_.vehicle_host, config_.vehicle_port, config_.timeout_ms);
+  const auto endpoint = endpoint_string(config_.vehicle_host, config_.vehicle_port);
+  if (fd < 0) {
+    return {false, link_name + " 无法连接 " + endpoint};
+  }
+
+  uint8_t header[8];
+  write_le32(header, static_cast<uint32_t>(request_type));
+  write_le32(header + 4, static_cast<uint32_t>(request_payload.size()));
+  bool ok = write_all(fd, header, sizeof(header));
+  if (ok && !request_payload.empty()) {
+    ok = write_all(fd, reinterpret_cast<const uint8_t *>(request_payload.data()), request_payload.size());
+  }
+  if (!ok) {
+    ::close(fd);
+    return {false, link_name + " 向 " + endpoint + " 发送请求失败"};
+  }
+
+  uint8_t response_header[8];
+  if (!read_all(fd, response_header, sizeof(response_header))) {
+    ::close(fd);
+    return {false, link_name + " 等待 " + endpoint + " 响应超时或连接断开"};
+  }
+  const auto actual_type = static_cast<FrameType>(read_le32(response_header));
+  const auto payload_len = read_le32(response_header + 4);
+  std::string response_payload(payload_len, '\0');
+  if (payload_len > 0 &&
+    !read_all(fd, reinterpret_cast<uint8_t *>(response_payload.data()), payload_len))
+  {
+    ::close(fd);
+    return {false, link_name + " 读取 " + endpoint + " 响应 payload 失败"};
+  }
+  ::close(fd);
+
+  if (actual_type != response_type) {
+    return {false, link_name + " 响应帧类型不匹配"};
+  }
+
+  try {
+    const auto payload = nlohmann::json::parse(response_payload.empty() ? "{}" : response_payload);
+    const bool success = json_bool(payload, "success", false);
+    if (!success) {
+      return {false, json_message(payload, link_name + " readiness=false")};
+    }
+    std::string readiness_failure;
+    const char * readiness_keys[] = {
+      "agent_ready",
+      "estop_released",
+      "vehicle_safe_to_move",
+      "motion_control_ready",
+      "trajectory_executor_ready",
+      "vehicle_feedback_ready",
+      "control_output_ready",
+      "external_pose_feedback_ready",
+      "capture_pipeline_ready",
+      "sensor_data_stream_ready",
+    };
+    for (const auto * key : readiness_keys) {
+      if (!optional_bool_passed(payload, key, readiness_failure)) {
+        return {false, json_message(payload, link_name + " " + readiness_failure)};
+      }
+    }
+    return {true, json_message(payload, link_name + " 链路正常")};
+  } catch (const std::exception & exc) {
+    return {false, link_name + " 响应 JSON 解析失败: " + std::string(exc.what())};
+  }
+}
+
+Wifi6LinkClient::CheckResult Wifi6LinkClient::check_chassis() const
+{
+  auto result = send_json_request(
+    FrameType::CHASSIS_GET_READINESS_REQ,
+    FrameType::CHASSIS_GET_READINESS_RSP,
+    readiness_payload("chassis"),
+    "底盘 WiFi6 链路");
+  if (!result.passed) {
+    return result;
+  }
+  return result;
+}
+
+Wifi6LinkClient::CheckResult Wifi6LinkClient::check_control() const
+{
+  return send_json_request(
+    FrameType::CONTROL_GET_READINESS_REQ,
+    FrameType::CONTROL_GET_READINESS_RSP,
+    readiness_payload("control"),
+    "运控 WiFi6 链路");
+}
+
+Wifi6LinkClient::CheckResult Wifi6LinkClient::check_sensor() const
+{
+  return send_json_request(
+    FrameType::SENSOR_GET_READINESS_REQ,
+    FrameType::SENSOR_GET_READINESS_RSP,
+    readiness_payload("sensor"),
+    "传感器 WiFi6 链路");
+}
+
+Wifi6LinkClient::CheckResult Wifi6LinkClient::check_external_pose() const
+{
+  return send_json_request(
+    FrameType::EXTERNAL_POSE_PUSH_REQ,
+    FrameType::EXTERNAL_POSE_PUSH_RSP,
+    external_pose_probe_payload(),
+    "外部真值位姿 WiFi6 链路");
+}
+
+}  // namespace workshop_orchestrator_v2
diff --git a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp
similarity index 83%
rename from agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp
rename to agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp
index 47f4b19..b0e776f 100644
--- a/agv_calib_brain/src/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp
+++ b/agv_calib_brain/src/core/agv_calib_core/workshop_orchestrator/src/workshop_orchestrator_v2_node.cpp
@@ -4,9 +4,11 @@
 #include <sstream> // 拼接 session_id 时要用字符串流。
 #include <thread>  // 把整场执行放到后台线程时要用 std::thread。
 
+#include "calibration_workshop_orchestration_interfaces/msg/approval_state.hpp"
+#include "calibration_workshop_orchestration_interfaces/msg/precheck_item.hpp"
+
 namespace workshop_orchestrator_v2
 {
-
 using calibration_workshop_orchestration_interfaces::msg::WorkshopEvent; // 进度通知消息短名。
 using calibration_workshop_orchestration_interfaces::msg::WorkshopEventType; // 进度通知类型短名。
 using calibration_workshop_orchestration_interfaces::srv::AcknowledgeManualStep; // 人工确认接口短名。
@@ -20,6 +22,27 @@ using calibration_workshop_orchestration_interfaces::srv::ResumeWorkshopSession;
 WorkshopOrchestratorV2Node::WorkshopOrchestratorV2Node(const rclcpp::NodeOptions & options)
 : Node("workshop_orchestrator_v2", options) // 创建一个名为 workshop_orchestrator_v2 的 ROS 节点。
 {
+  wifi6_precheck_enabled_ = declare_parameter<bool>("wifi6_precheck_enabled", true);
+  wifi6_precheck_require_all_links_ = declare_parameter<bool>("wifi6_precheck_require_all_links", true);
+  Wifi6LinkClient::Config wifi6_config;
+  wifi6_config.vehicle_host = declare_parameter<std::string>("wifi6_vehicle_host", "127.0.0.1");
+  wifi6_config.vehicle_port = static_cast<uint16_t>(declare_parameter<int>("wifi6_vehicle_port", 9000));
+  wifi6_config.timeout_ms = declare_parameter<int>("wifi6_timeout_ms", 5000);
+  wifi6_link_client_ = std::make_unique<Wifi6LinkClient>(wifi6_config);
+  parameter_callback_handle_ = this->add_on_set_parameters_callback(
+    [this](const std::vector<rclcpp::Parameter> & parameters) {
+      rcl_interfaces::msg::SetParametersResult result;
+      result.successful = true;
+      for (const auto & parameter : parameters) {
+        if (parameter.get_name() == "wifi6_precheck_enabled") {
+          wifi6_precheck_enabled_ = parameter.as_bool();
+        } else if (parameter.get_name() == "wifi6_precheck_require_all_links") {
+          wifi6_precheck_require_all_links_ = parameter.as_bool();
+        }
+      }
+      return result;
+    });
+
   event_publisher_ = this->create_publisher<WorkshopEvent>("/workshop_v2/events", 10); // 建一个 topic 发布器，后面把“任务进度通知”都发到这里。
 
   create_session_service_ = this->create_service<CreateWorkshopSession>(
@@ -99,6 +122,9 @@ void WorkshopOrchestratorV2Node::handle_create_session(
   response->response.session = record.session; // 把整条任务快照一起返回，外部不用马上再查一次。
 
   publish_event(record, WorkshopEventType::SESSION_STATE_CHANGED, "Session created."); // 发一条“新任务已经创建”通知，界面和日志系统可以立刻显示。
+  if (request->request.auto_build_execution_plan) {
+    publish_event(record, WorkshopEventType::EXECUTION_PLAN_BUILT, "Execution plan built.");
+  }
 }
 
 void WorkshopOrchestratorV2Node::handle_get_session(
@@ -369,15 +395,127 @@ WorkshopOrchestratorV2Node::SessionExecutionContext WorkshopOrchestratorV2Node::
 
 WorkshopPrecheckResponse WorkshopOrchestratorV2Node::run_precheck_step(const std::string & session_id)
 {
+  WorkshopSession session_snapshot;
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    session_snapshot = sessions_.at(session_id).session;
+  }
+
+  auto precheck = precheck_runner_.run(session_snapshot); // 先检查计划和 stage metadata。
+  run_wifi6_link_precheck(session_snapshot, precheck); // 再检查车间工控机 <-> 车端电脑四条 WiFi6/TCP 链路。
+
   std::lock_guard<std::mutex> lock(mutex_);
   auto & record = sessions_.at(session_id);
-  const auto precheck = precheck_runner_.run(record.session); // 真正执行开跑前检查：当前主要看“有没有步骤可跑”。
   record.last_precheck = precheck; // 把这次预检结果存下来，后面查“为什么没开跑”时可以直接返回。
   record.session.updated_timestamp_us = now_us();
   publish_event(record, WorkshopEventType::PRECHECK_COMPLETED, precheck.message); // 给外部发通知：预检做完了，并把结论文本一起带出去。
   return precheck;
 }
 
+void WorkshopOrchestratorV2Node::append_precheck_item(
+  WorkshopPrecheckResponse & precheck,
+  const std::string & item_code,
+  const std::string & display_name,
+  bool passed,
+  const std::string & message,
+  uint8_t stage_type,
+  uint8_t module_type)
+{
+  calibration_workshop_orchestration_interfaces::msg::PrecheckItem item;
+  item.item_code = item_code;
+  item.display_name = display_name;
+  item.passed = passed;
+  item.blocking = true;
+  item.error_code = make_error_code(passed ? ErrorCode::OK : ErrorCode::NETWORK_LOSS);
+  item.message = message;
+  item.related_stage_type = make_stage_type(stage_type);
+  item.related_module_type = make_module_type(module_type);
+  precheck.items.push_back(item);
+  if (!passed) {
+    precheck.blocking_issue_count += 1;
+    precheck.all_passed = false;
+    precheck.success = false;
+    precheck.error_code = make_error_code(ErrorCode::NETWORK_LOSS);
+  }
+}
+
+void WorkshopOrchestratorV2Node::run_wifi6_link_precheck(
+  const WorkshopSession & session,
+  WorkshopPrecheckResponse & precheck)
+{
+  if (!wifi6_precheck_enabled_ || !wifi6_link_client_) {
+    return;
+  }
+
+  bool needs_chassis = wifi6_precheck_require_all_links_;
+  bool needs_control = wifi6_precheck_require_all_links_;
+  bool needs_sensor = wifi6_precheck_require_all_links_;
+  bool needs_external_pose = wifi6_precheck_require_all_links_;
+  if (!wifi6_precheck_require_all_links_) {
+    for (const auto & stage : session.stage_plan) {
+      needs_chassis = needs_chassis || stage.module_type.value == CalibrationModuleType::CHASSIS_MODULE;
+      needs_control = needs_control || stage.module_type.value == CalibrationModuleType::CONTROL_MODULE;
+      needs_sensor = needs_sensor ||
+        stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE ||
+        stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE ||
+        stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE;
+      needs_external_pose = needs_external_pose ||
+        stage.module_type.value == CalibrationModuleType::CONTROL_MODULE ||
+        stage.module_type.value == CalibrationModuleType::EXTERNAL_LOCALIZATION_MODULE;
+    }
+  }
+
+  if (needs_chassis) {
+    const auto result = wifi6_link_client_->check_chassis();
+    append_precheck_item(
+      precheck,
+      "wifi6.chassis",
+      "底盘 WiFi6/TCP 链路",
+      result.passed,
+      result.message,
+      WorkflowStageType::CHASSIS_CALIBRATION_STAGE,
+      CalibrationModuleType::CHASSIS_MODULE);
+  }
+  if (needs_control) {
+    const auto result = wifi6_link_client_->check_control();
+    append_precheck_item(
+      precheck,
+      "wifi6.control",
+      "运控 WiFi6/TCP 链路",
+      result.passed,
+      result.message,
+      WorkflowStageType::CONTROL_CALIBRATION_STAGE,
+      CalibrationModuleType::CONTROL_MODULE);
+  }
+  if (needs_sensor) {
+    const auto result = wifi6_link_client_->check_sensor();
+    append_precheck_item(
+      precheck,
+      "wifi6.sensor",
+      "传感器 WiFi6/TCP 链路",
+      result.passed,
+      result.message,
+      WorkflowStageType::SENSOR_INTRINSIC_CALIBRATION_STAGE,
+      CalibrationModuleType::SENSOR_INTRINSIC_MODULE);
+  }
+  if (needs_external_pose) {
+    const auto result = wifi6_link_client_->check_external_pose();
+    append_precheck_item(
+      precheck,
+      "wifi6.external_pose",
+      "外部真值位姿 WiFi6/TCP 链路",
+      result.passed,
+      result.message,
+      WorkflowStageType::EXTERNAL_REFERENCE_READY_CHECK_STAGE,
+      CalibrationModuleType::EXTERNAL_LOCALIZATION_MODULE);
+  }
+
+  precheck.ready_for_start = precheck.all_passed;
+  precheck.message = precheck.ready_for_start ?
+    "Precheck passed: metadata and WiFi6 links are ready." :
+    "Precheck failed: metadata or WiFi6 link check failed.";
+}
+
 void WorkshopOrchestratorV2Node::mark_session_running(const std::string & session_id)
 {
   std::lock_guard<std::mutex> lock(mutex_);
@@ -441,6 +579,19 @@ bool WorkshopOrchestratorV2Node::run_all_stages(
         return false;
       }
       if (attempt < stage.retry_limit) {
+        {
+          std::lock_guard<std::mutex> lock(mutex_);
+          auto & record = sessions_.at(context.session_id);
+          record.session.updated_timestamp_us = now_us();
+          publish_event(
+            record,
+            WorkshopEventType::SESSION_STATE_CHANGED,
+            "Stage retry scheduled.",
+            stage.stage_id,
+            JobState::PENDING,
+            stage.stage_type.value,
+            stage.module_type.value);
+        }
         continue;
       }
       break;
@@ -480,6 +631,8 @@ bool WorkshopOrchestratorV2Node::run_single_stage(
   result.stage_id = stage.stage_id;      // 先把结果和当前步骤绑定起来。
   result.stage_type = stage.stage_type;  // 带回这一步属于哪类步骤。
   result.module_type = stage.module_type; // 带回这一步属于哪个模块。
+  result.final_job_state = make_job_state(JobState::RUNNING);
+  result.approval_state.value = calibration_workshop_orchestration_interfaces::msg::ApprovalState::APPROVAL_STATE_UNSPECIFIED;
 
   if (!dispatch_stage_to_module(session_id, stage, result, failure_reason)) {
     if (failure_reason.empty()) {
@@ -489,11 +642,16 @@ bool WorkshopOrchestratorV2Node::run_single_stage(
     if (result.summary.empty()) {
       result.summary = failure_reason; // 把失败原因同步写进阶段结果，方便后面进报告。
     }
-    if (result.final_job_state.state == JobState::JOB_STATE_UNSPECIFIED) {
+    if (result.final_job_state.state == JobState::JOB_STATE_UNSPECIFIED ||
+      result.final_job_state.state == JobState::RUNNING)
+    {
       result.final_job_state = make_job_state(JobState::FAILED); // 下层没写状态时，这里明确标成失败。
     }
     result.success = false;
     result.auto_acceptance_passed = false;
+    if (result.failure_root_cause.empty()) {
+      result.failure_root_cause = failure_reason;
+    }
     record_stage_result(session_id, result);
     mark_stage_failed(session_id, stage, failure_reason); // 发一条“这一步失败了”的通知。
     return false;
@@ -503,6 +661,14 @@ bool WorkshopOrchestratorV2Node::run_single_stage(
     if (failure_reason.empty()) {
       failure_reason = result.summary.empty() ? "Stage failed." : result.summary; // 执行器返回失败但没写原因时，这里补齐失败原因。
     }
+    if (result.final_job_state.state == JobState::JOB_STATE_UNSPECIFIED ||
+      result.final_job_state.state == JobState::RUNNING)
+    {
+      result.final_job_state = make_job_state(JobState::FAILED);
+    }
+    if (result.failure_root_cause.empty()) {
+      result.failure_root_cause = failure_reason;
+    }
     record_stage_result(session_id, result);
     mark_stage_failed(session_id, stage, failure_reason);
     return false;
@@ -771,7 +937,9 @@ void WorkshopOrchestratorV2Node::mark_stage_failed(
     stage.stage_id,
     JobState::FAILED,
     stage.stage_type.value,
-    stage.module_type.value);
+    stage.module_type.value,
+    false,
+    calibration_workshop_orchestration_interfaces::msg::ApprovalState::APPROVAL_STATE_UNSPECIFIED);
 }
 
 void WorkshopOrchestratorV2Node::mark_stage_started(const std::string & session_id, const StagePlan & stage)
@@ -787,7 +955,9 @@ void WorkshopOrchestratorV2Node::mark_stage_started(const std::string & session_
     stage.stage_id,
     JobState::RUNNING,
     stage.stage_type.value,
-    stage.module_type.value);
+    stage.module_type.value,
+    false,
+    calibration_workshop_orchestration_interfaces::msg::ApprovalState::APPROVAL_STATE_UNSPECIFIED);
 }
 
 void WorkshopOrchestratorV2Node::mark_stage_completed(
@@ -802,11 +972,13 @@ void WorkshopOrchestratorV2Node::mark_stage_completed(
   publish_event(
     record,
     WorkshopEventType::STAGE_COMPLETED,
-    "Stage completed.",
+    result.summary.empty() ? "Stage completed." : result.summary,
     stage.stage_id,
-    JobState::SUCCEEDED,
+    result.final_job_state.state == JobState::JOB_STATE_UNSPECIFIED ? JobState::SUCCEEDED : result.final_job_state.state,
     stage.stage_type.value,
-    stage.module_type.value);
+    stage.module_type.value,
+    false,
+    result.approval_state.value);
 }
 
 void WorkshopOrchestratorV2Node::wait_if_paused(const std::string & session_id)
@@ -834,7 +1006,17 @@ void WorkshopOrchestratorV2Node::record_stage_result(
 {
   std::lock_guard<std::mutex> lock(mutex_);
   auto & record = sessions_.at(session_id);
-  record.stage_results.push_back(result);
+  bool replaced = false;
+  for (auto & existing : record.stage_results) {
+    if (existing.stage_id == result.stage_id) {
+      existing = result;
+      replaced = true;
+      break;
+    }
+  }
+  if (!replaced) {
+    record.stage_results.push_back(result);
+  }
 }
 
 void WorkshopOrchestratorV2Node::finish_session_precheck_failed(
@@ -848,7 +1030,6 @@ void WorkshopOrchestratorV2Node::finish_session_precheck_failed(
     auto & record = sessions_.at(context.session_id);
     record.session.state = make_session_state(WorkshopSessionState::FAILED);
     record.session.active_stage_id.clear();
-    record.session.active_stage_id.clear();
     record.session.updated_timestamp_us = now_us();
     record.report = report_builder_.build(
       record.session,
@@ -856,14 +1037,14 @@ void WorkshopOrchestratorV2Node::finish_session_precheck_failed(
       false,
       context.started_timestamp_us,
       now_us(),
-      "Precheck failed.");
+      record.last_precheck.message.empty() ? "Precheck failed." : record.last_precheck.message);
     record.executing = false;
     record.report_ready = true;
     publish_event(record, WorkshopEventType::REPORT_READY, "Report ready: precheck failed.");
 
-    result->result.success = true;
-    result->result.error_code = make_error_code(ErrorCode::OK);
-    result->result.message = "Precheck failed.";
+    result->result.success = false;
+    result->result.error_code = make_error_code(ErrorCode::VALIDATION_FAILED);
+    result->result.message = record.last_precheck.message.empty() ? "Precheck failed." : record.last_precheck.message;
     result->result.report = record.report;
   }
   goal_handle->abort(result);
@@ -892,8 +1073,8 @@ void WorkshopOrchestratorV2Node::finish_session_failed(
     record.report_ready = true;
     publish_event(record, WorkshopEventType::REPORT_READY, "Report ready: session failed.");
 
-    result->result.success = true;
-    result->result.error_code = make_error_code(ErrorCode::OK);
+    result->result.success = false;
+    result->result.error_code = make_error_code(ErrorCode::INVALID_STATE);
     result->result.message = failure_reason;
     result->result.report = record.report;
   }
@@ -952,8 +1133,8 @@ void WorkshopOrchestratorV2Node::finish_session_canceled(
     record.report_ready = true;
     publish_event(record, WorkshopEventType::SESSION_STATE_CHANGED, "Session canceled.");
 
-    result->result.success = true;
-    result->result.error_code = make_error_code(ErrorCode::OK);
+    result->result.success = false;
+    result->result.error_code = make_error_code(ErrorCode::ROLLBACK_REQUIRED);
     result->result.message = "Canceled.";
     result->result.report = record.report;
   }
@@ -994,4 +1175,4 @@ std::string WorkshopOrchestratorV2Node::make_session_id() const
   return oss.str();
 }
 
-}  // namespace workshop_orchestrator_v2
\ No newline at end of file
+}  // namespace workshop_orchestrator_v2
diff --git a/agv_calib_brain/src/deployment/checklists/sim_to_site_checklist.md b/agv_calib_brain/src/deployment/checklists/sim_to_site_checklist.md
new file mode 100644
index 0000000..ff19473
--- /dev/null
+++ b/agv_calib_brain/src/deployment/checklists/sim_to_site_checklist.md
@@ -0,0 +1,18 @@
+# Simulation To Site Checklist
+
+Before promoting a simulation-validated setup to site deployment, verify:
+
+- ROS 2 service/action/topic names match the deployment profile.
+- `vehicle_id` is stable and checked by gateway and vehicle-side agent.
+- `base_link` definition matches the real vehicle, especially rear axle center.
+- Sensor frame IDs match the real URDF/TF tree.
+- Calibration target dimensions are measured onsite and not copied from defaults.
+- Vehicle-side agent owns low-level motion control.
+- Workshop PC cannot publish directly to actuator topics.
+- Emergency stop was tested from gateway and vehicle-side agent.
+- Disconnect or timeout causes vehicle stop.
+- WiFi or wired network timeout behavior was tested.
+- Vehicle path is clear at the real site.
+- First site run is low-speed and supervised.
+- Calibration results include vehicle ID, config version, operator, and timestamp.
+
diff --git a/agv_calib_brain/src/deployment/profiles/sim_workshop.yaml b/agv_calib_brain/src/deployment/profiles/sim_workshop.yaml
new file mode 100644
index 0000000..48b1be2
--- /dev/null
+++ b/agv_calib_brain/src/deployment/profiles/sim_workshop.yaml
@@ -0,0 +1,73 @@
+mode: sim
+vehicle_id: demo_agv_001
+
+workshop_pc:
+  gateway:
+    vehicle_host: 127.0.0.1
+    vehicle_port: 9000
+    timeout_ms: 5000
+
+vehicle_agent:
+  type: isaac_vehicle_agent_sim
+  bind_host: 0.0.0.0
+  private_cmd_vel_topic: /vehicle/demo_agv_001/actuator/cmd_vel
+  external_pose_topic: /isaac/external_localization/telemetry
+  external_pose_transport: wifi6_tcp
+  chassis_telemetry_topic: /chassis/telemetry
+  internal_ackermann_command_topic: /vehicle/demo_agv_001/internal/ackermann_cmd
+  internal_state_topic: /vehicle/demo_agv_001/internal/state
+  internal_health_topic: /vehicle/demo_agv_001/internal/health
+  internal_time_sync_topic: /vehicle/demo_agv_001/internal/time_sync_status
+  wheel_base_m: 0.80
+  max_steering_angle_rad: 0.60
+  internal_command_timeout_sec: 0.5
+
+vehicle_sensor_agent:
+  type: isaac_vehicle_sensor_agent_sim
+  bind_host: 0.0.0.0
+  front_camera_sensor_id: demo_front_camera
+  down_camera_sensor_id: demo_down_camera
+  lidar_3d_sensor_id: demo_lidar_3d
+  lidar_2d_sensor_id: demo_lidar_2d
+  imu_sensor_id: demo_imu
+  front_camera_topic: /sensor/front_camera/image_raw
+  down_camera_topic: /sensor/down_camera/image_raw
+  lidar_3d_topic: /sensor/lidar_3d/pointcloud
+  lidar_2d_topic: /sensor/lidar_2d/scan
+  imu_topic: /sensor/imu/data
+  sensor_link_status_topic: /vehicle/demo_agv_001/internal/sensor_link_status
+  max_frame_payload_bytes: 262144
+
+external_pose_bridge:
+  type: external_pose_wifi6_bridge
+  source_topic: /isaac/external_localization/telemetry
+  reference_source_name: isaac_external_truth
+  max_hz: 30.0
+
+workshop_sensor_ingest:
+  type: workshop_sensor_ingest_sim
+  publish_prefix: /workshop/vehicle_sensor
+  poll_hz: 15.0
+  max_payload_bytes: 4194304
+
+isaac:
+  scene_script: src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
+  scene_manifest_path: .isaac_cache/workshop_scene_manifest.json
+  cmd_vel_topic: /vehicle/demo_agv_001/actuator/cmd_vel
+
+frames:
+  map: workshop
+  base_link: rear_axle_center
+
+targets:
+  down_camera_charuco:
+    square_size_m: 0.09
+    squares_x: 30
+    squares_y: 10
+  lidar_2d_corner_bay:
+    reserved_for: lidar_2d_extrinsic
+
+safety:
+  max_speed_mps: 0.3
+  command_timeout_sec: 1.0
+  stop_on_disconnect: true
diff --git a/agv_calib_brain/src/deployment/profiles/site_template.yaml b/agv_calib_brain/src/deployment/profiles/site_template.yaml
new file mode 100644
index 0000000..f397a31
--- /dev/null
+++ b/agv_calib_brain/src/deployment/profiles/site_template.yaml
@@ -0,0 +1,59 @@
+mode: site
+vehicle_id: replace_with_real_vehicle_id
+
+workshop_pc:
+  gateway:
+    vehicle_host: 192.168.10.42
+    vehicle_port: 9000
+    timeout_ms: 5000
+
+vehicle_agent:
+  type: real_vehicle_agent
+  vendor_interface: replace_with_can_plc_sdk_or_controller
+  external_pose_transport: wifi6
+  internal_ackermann_command_topic: /vehicle/replace_with_real_vehicle_id/internal/ackermann_cmd
+  internal_state_topic: /vehicle/replace_with_real_vehicle_id/internal/state
+  internal_health_topic: /vehicle/replace_with_real_vehicle_id/internal/health
+  internal_time_sync_topic: /vehicle/replace_with_real_vehicle_id/internal/time_sync_status
+  wheel_base_m: measured_on_site
+  max_steering_angle_rad: measured_on_site
+
+vehicle_sensor_agent:
+  type: real_vehicle_sensor_agent
+  front_camera_sensor_id: replace_with_front_camera_id
+  down_camera_sensor_id: replace_with_down_camera_id
+  lidar_3d_sensor_id: replace_with_lidar_3d_id
+  lidar_2d_sensor_id: replace_with_lidar_2d_id
+  imu_sensor_id: replace_with_imu_id
+  sensor_data_transport: wifi6
+  sensor_link_status_topic: /vehicle/replace_with_real_vehicle_id/internal/sensor_link_status
+
+external_pose_bridge:
+  type: external_pose_wifi6_bridge
+  source_topic: replace_with_external_truth_ros_topic
+  reference_source_name: replace_with_external_truth_source
+  max_hz: 30.0
+
+workshop_sensor_ingest:
+  type: workshop_sensor_ingest
+  publish_prefix: /workshop/vehicle_sensor
+  poll_hz: 15.0
+  max_payload_bytes: 4194304
+
+frames:
+  map: workshop
+  base_link: rear_axle_center
+
+targets:
+  down_camera_charuco:
+    square_size_m: measured_on_site
+    squares_x: measured_on_site
+    squares_y: measured_on_site
+  lidar_2d_corner_bay:
+    measured_planes: required
+
+safety:
+  max_speed_mps: 0.1
+  command_timeout_sec: 1.0
+  stop_on_disconnect: true
+  emergency_stop_required: true
diff --git a/agv_calib_brain/src/docs/sim_to_site_code_boundary.md b/agv_calib_brain/src/docs/sim_to_site_code_boundary.md
new file mode 100644
index 0000000..0c68258
--- /dev/null
+++ b/agv_calib_brain/src/docs/sim_to_site_code_boundary.md
@@ -0,0 +1,34 @@
+# Simulation To Site Code Boundary
+
+Use simulation to validate interfaces, task flow, target layouts, and safety
+state machines. Do not move Isaac-specific code into site deployment.
+
+Reusable across simulation and site:
+
+- ROS 2 interfaces
+- TCP frame protocol
+- `vehicle_agent_gateway`
+- workshop orchestration flow
+- calibration algorithm services
+- manifest/profile schema
+- safety state machine semantics
+- reports and logs
+
+Simulation only:
+
+- Isaac scene construction
+- simulated vehicle URDF/USD assets
+- simulated sensor creation
+- synthetic telemetry publishers
+- simulated target geometry generation
+- WiFi/link fault injection proxy when it is not part of real deployment
+
+Site only:
+
+- real vehicle SDK or PLC/CAN integration
+- real network addressing and certificates
+- real emergency stop wiring and validation
+- measured target dimensions
+- measured sensor extrinsics and vehicle profile
+- site acceptance logs
+
diff --git a/agv_calib_brain/src/simulation/README.md b/agv_calib_brain/src/simulation/README.md
new file mode 100644
index 0000000..e86d604
--- /dev/null
+++ b/agv_calib_brain/src/simulation/README.md
@@ -0,0 +1,145 @@
+# 仿真代码
+
+这个目录只放现场部署前使用的仿真验证代码。
+
+仿真阶段要验证三件事：
+
+- Isaac 车间、车辆、传感器和标定靶布置是否合理。
+- 车间工控机只能通过 gateway 与“车端电脑”通信，不能直接发布底层执行器命令。
+- 仿真车端和未来真实 Windows 车端使用同一套请求/响应边界。
+
+## 环境功能和验收边界
+
+| 组件 | 作用 | 验证什么 |
+| --- | --- | --- |
+| `isaac_workshop_sim` | 构建标定车间、阿克曼小车、传感器和标定靶 | 验证真值位姿、前视相机、下视相机、3D 雷达、2D 雷达、IMU 是否能从 Isaac 发布出来 |
+| `isaac_vehicle_unified_agent_sim.py` | 模拟 Windows 车端电脑统一 WiFi6/TCP 入口 | 验证底盘、运控、外部真值位姿和传感器请求都从同一个车端端口进入 |
+| `vehicle_agent_sim` | 独立底盘/运控/外部位姿后端，保留作调试工具 | 验证车端控制逻辑本身，不作为默认一键闭环入口 |
+| `vehicle_sensor_agent_sim` | 独立传感器采集后端，保留作调试工具 | 验证车端能订阅 Isaac 传感器，并按传感器 ID 提供最新数据 |
+| `vehicle_wifi6_gateway_sim.py` | 旧版分域后端聚合 gateway，保留作兼容工具 | 默认一键闭环不再使用它 |
+| `external_pose_wifi6_bridge_sim.py` | 模拟外部真值系统通过 WiFi6 给车端提供定位 | 验证车端使用外部真值位姿，而不是直接订阅 Isaac 内部 topic |
+| `workshop_sensor_ingest_sim.py` | 模拟车间侧从车端拉取传感器数据 | 验证车端传感器数据能进入车间工控机侧 ROS topic |
+| `smoke_test_workshop_orchestrator.py` | 车间总控端到端验收 | 验证创建 session、阶段调度、WiFi6 预检、阶段结果和报告生成 |
+
+当前 smoke test 的通过条件主要是“进程、接口、通信和编排可用”。它不等价于真实标定算法已经完成：
+
+- 底盘阿克曼算法目前是模板输出，验证的是底盘任务分发和结果回传。
+- 运控 Pure Pursuit 阶段会检查控制遥测数量并计算示例误差，但还不是完整参数优化闭环。
+- 前视/下视相机内参阶段目前是算法模板，验证的是传感器标定任务调度和 readiness。
+- 2D 雷达角落、墙面棋盘格、下视相机 3D 台阶是否产生足够高质量观测，需要后续专门采样质量脚本验证。
+
+## 目录
+
+- `isaac_workshop_sim/`
+  Isaac 标定车间构建脚本、仿真车辆 URDF、仿真传感器和场景 manifest。
+
+- `vehicle_agent_sim/`
+  仿真车端电脑。它监听与真实 Windows 小车一致的 TCP 端口，并把被接受的动作转换成私有 Isaac 控制话题。
+
+- `legacy_calibration_sim/`
+  旧版 Gazebo/ROS 仿真包，先保留作参考。
+
+- `tools/`
+  仿真启动和验收工具，包括外部真值位姿 WiFi6/TCP 桥、车间侧传感器 ingest、TCP smoke test。
+
+## 一键生成启动命令
+
+默认读取 `src/deployment/profiles/sim_workshop.yaml`：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --dry-run
+```
+
+启动完整仿真链路：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py
+```
+
+只启动仿真车端：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+```
+
+只启动外部真值位姿桥：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+```
+
+只启动车间侧传感器接入：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+```
+
+只启动 Isaac 场景：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component isaac
+```
+
+## 推荐测试顺序
+
+1. 清理旧节点：
+
+```bash
+./stop_isaac_real_sim_stack.sh --list
+./stop_isaac_real_sim_stack.sh --kill
+```
+
+2. 启动完整 Isaac 链路并执行默认验收：
+
+```bash
+./run_isaac_real_sim_test.sh --headless
+```
+
+3. 分阶段定位问题：
+
+```bash
+./run_isaac_real_sim_test.sh --headless --tasks external
+./run_isaac_real_sim_test.sh --headless --tasks external,chassis
+./run_isaac_real_sim_test.sh --headless --tasks external,chassis,control
+./run_isaac_real_sim_test.sh --headless --tasks external,chassis,control,sensor_intrinsic
+```
+
+## TCP 快速验收
+
+仿真车端启动后，可以先不动车，只检查 readiness 和急停：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py
+```
+
+如果需要让车执行一个很短的直线动作：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py --motion
+```
+
+验证轨迹跟踪时，外部真值位姿默认通过 `workshop_pc.gateway.vehicle_port` 进入车端统一入口，不再让车端直接订阅 Isaac 位姿 topic：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py --trajectory --fake-telemetry
+```
+
+传感器链路验收：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_sensor_agent.py --fake-sensors
+```
+
+## 边界
+
+共享协议和 ROS 2 contract 不放在这里，而在：
+
+- `src/communication/win_ubuntu_bridge/*_interfaces`
+- `src/communication/win_ubuntu_bridge/vehicle_agent_gateway`
+
+核心编排和标定算法不放在这里，而在：
+
+- `src/core/agv_calib_core/workshop_orchestrator`
+- `src/core/agv_calib_core/*_calibration_service`
+
+仿真代码不要复制到真实车端部署目录。真实车端只复用接口语义，不复用 Isaac API。
diff --git a/agv_calib_brain/src/simulation/isaac_workshop_sim/README.md b/agv_calib_brain/src/simulation/isaac_workshop_sim/README.md
new file mode 100644
index 0000000..3ae9805
--- /dev/null
+++ b/agv_calib_brain/src/simulation/isaac_workshop_sim/README.md
@@ -0,0 +1,41 @@
+# Isaac 标定车间仿真
+
+这个模块负责构建部署前验证用的 Isaac 标定车间。
+
+包含：
+
+- 车间几何结构。
+- 前轮转向、后轮驱动的阿克曼小车 URDF。
+- 车载 3D LiDAR、2D LiDAR、IMU、前视相机、下视相机。
+- 墙面棋盘格阵列。
+- 2D LiDAR 外参标定角落。
+- 下视相机 3D ChArUco 内参标定台。
+- 底盘标定路线和停车标记。
+- 场景 manifest 生成。
+
+默认启动：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component isaac
+```
+
+直接启动场景脚本：
+
+```bash
+python3 src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py \
+  --vehicle-id demo_agv_001 \
+  --cmd-vel-topic /vehicle/demo_agv_001/actuator/cmd_vel \
+  --scene-manifest-path .isaac_cache/workshop_scene_manifest.json
+```
+
+headless 模式：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component isaac --headless
+```
+
+边界规则：
+
+- Isaac API 只能留在这里。
+- 真实车辆 SDK、PLC、CAN、厂商控制器对接代码不能放进这里。
+- 场景中可复用的信息通过 manifest 和 deployment profile 输出。
diff --git a/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf b/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf
new file mode 100644
index 0000000..dfa90f8
--- /dev/null
+++ b/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf
@@ -0,0 +1,348 @@
+<?xml version="1.0"?>
+<robot name="ackermann_front_steer_rear_drive">
+  <material name="body_blue">
+    <color rgba="0.10 0.26 0.82 1.0"/>
+  </material>
+  <material name="body_white">
+    <color rgba="0.86 0.88 0.84 1.0"/>
+  </material>
+  <material name="tire_black">
+    <color rgba="0.02 0.02 0.02 1.0"/>
+  </material>
+  <material name="hub_gray">
+    <color rgba="0.55 0.58 0.60 1.0"/>
+  </material>
+  <material name="sensor_green">
+    <color rgba="0.10 0.80 0.42 1.0"/>
+  </material>
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.40 0 0.16" rpy="0 0 0"/>
+      <mass value="12.0"/>
+      <inertia ixx="0.18" ixy="0.0" ixz="0.0" iyy="0.75" iyz="0.0" izz="0.82"/>
+    </inertial>
+    <visual name="chassis">
+      <origin xyz="0.40 0 0.17" rpy="0 0 0"/>
+      <geometry>
+        <box size="1.05 0.46 0.18"/>
+      </geometry>
+      <material name="body_blue"/>
+    </visual>
+    <visual name="upper_body">
+      <origin xyz="0.32 0 0.34" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.38 0.22"/>
+      </geometry>
+      <material name="body_white"/>
+    </visual>
+    <visual name="front_bumper">
+      <origin xyz="0.96 0 0.15" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.52 0.10"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <visual name="rear_drive_axle">
+      <origin xyz="0.00 0 0.10" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.018" length="0.64"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision name="body_collision">
+      <origin xyz="0 0 0.17" rpy="0 0 0"/>
+      <geometry>
+        <box size="1.05 0.46 0.18"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="front_left_steer_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.45"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.02" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.08 0.05 0.12"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.08 0.05 0.12"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="front_right_steer_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.45"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0.02" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.08 0.05 0.12"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.08 0.05 0.12"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="front_left_steer_joint" type="revolute">
+    <origin xyz="0.80 0.26 0.10" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="front_left_steer_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.56" upper="0.56" effort="35.0" velocity="3.2"/>
+    <dynamics damping="0.35" friction="0.02"/>
+  </joint>
+
+  <joint name="front_right_steer_joint" type="revolute">
+    <origin xyz="0.80 -0.26 0.10" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="front_right_steer_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.56" upper="0.56" effort="35.0" velocity="3.2"/>
+    <dynamics damping="0.35" friction="0.02"/>
+  </joint>
+
+  <link name="front_left_wheel_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.9"/>
+      <inertia ixx="0.004" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.004"/>
+    </inertial>
+    <visual name="tire">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+      <material name="tire_black"/>
+    </visual>
+    <visual name="hub">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.055" length="0.078"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="front_right_wheel_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.9"/>
+      <inertia ixx="0.004" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.004"/>
+    </inertial>
+    <visual name="tire">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+      <material name="tire_black"/>
+    </visual>
+    <visual name="hub">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.055" length="0.078"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="front_left_wheel_joint" type="continuous">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="front_left_steer_link"/>
+    <child link="front_left_wheel_link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="18.0" velocity="30.0"/>
+    <dynamics damping="0.05" friction="0.02"/>
+  </joint>
+
+  <joint name="front_right_wheel_joint" type="continuous">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="front_right_steer_link"/>
+    <child link="front_right_wheel_link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="18.0" velocity="30.0"/>
+    <dynamics damping="0.05" friction="0.02"/>
+  </joint>
+
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1.1"/>
+      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.009" iyz="0" izz="0.005"/>
+    </inertial>
+    <visual name="tire">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+      <material name="tire_black"/>
+    </visual>
+    <visual name="hub">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.055" length="0.078"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1.1"/>
+      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.009" iyz="0" izz="0.005"/>
+    </inertial>
+    <visual name="tire">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+      <material name="tire_black"/>
+    </visual>
+    <visual name="hub">
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.055" length="0.078"/>
+      </geometry>
+      <material name="hub_gray"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.57079632679 0 0"/>
+      <geometry>
+        <cylinder radius="0.10" length="0.07"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="rear_left_wheel_joint" type="continuous">
+    <origin xyz="0.00 0.26 0.10" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="35.0" velocity="30.0"/>
+    <dynamics damping="0.04" friction="0.02"/>
+  </joint>
+
+  <joint name="rear_right_wheel_joint" type="continuous">
+    <origin xyz="0.00 -0.26 0.10" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="35.0" velocity="30.0"/>
+    <dynamics damping="0.04" friction="0.02"/>
+  </joint>
+
+  <link name="front_camera_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.055 0.10 0.045"/>
+      </geometry>
+      <material name="sensor_green"/>
+    </visual>
+  </link>
+
+  <joint name="front_camera_joint" type="fixed">
+    <origin xyz="0.82 0 0.32" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="front_camera_link"/>
+  </joint>
+
+  <link name="down_camera_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.060 0.080 0.040"/>
+      </geometry>
+      <material name="sensor_green"/>
+    </visual>
+  </link>
+
+  <joint name="down_camera_joint" type="fixed">
+    <origin xyz="0.40 0 0.30" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="down_camera_link"/>
+  </joint>
+
+  <link name="lidar_3d_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.055" length="0.055"/>
+      </geometry>
+      <material name="sensor_green"/>
+    </visual>
+  </link>
+
+  <joint name="lidar_3d_joint" type="fixed">
+    <origin xyz="0.55 0 0.46" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="lidar_3d_link"/>
+  </joint>
+
+  <link name="lidar_2d_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.040" length="0.040"/>
+      </geometry>
+      <material name="sensor_green"/>
+    </visual>
+  </link>
+
+  <joint name="lidar_2d_joint" type="fixed">
+    <origin xyz="0.70 0 0.24" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="lidar_2d_link"/>
+  </joint>
+
+  <link name="imu_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.055 0.055 0.030"/>
+      </geometry>
+      <material name="sensor_green"/>
+    </visual>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="0.40 0 0.26" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+</robot>
diff --git a/agv_calib_brain/src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py b/agv_calib_brain/src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
new file mode 100644
index 0000000..cbc5aaa
--- /dev/null
+++ b/agv_calib_brain/src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
@@ -0,0 +1,2420 @@
+import argparse
+import json
+import math
+import os
+import time
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description="Isaac 标定车间构建脚本")
+    parser.add_argument("--headless", action="store_true", help="以无界面模式启动 Isaac Sim")
+    parser.add_argument("--room-length", type=float, default=10.0, help="车间长度（米）")
+    parser.add_argument("--room-width", type=float, default=6.0, help="车间宽度（米）")
+    parser.add_argument("--room-height", type=float, default=3.5, help="车间高度（米）")
+    parser.add_argument("--wall-thickness", type=float, default=0.2, help="墙体厚度（米）")
+    parser.add_argument("--light-intensity", type=float, default=30000.0, help="顶灯强度")
+    parser.add_argument("--checkerboard-rows", type=int, default=6, help="棋盘格行数")
+    parser.add_argument("--checkerboard-cols", type=int, default=9, help="棋盘格列数")
+    parser.add_argument("--checkerboard-square-size", type=float, default=0.12, help="棋盘格单格边长（米）")
+    parser.add_argument("--camera-resolution-width", type=int, default=1280, help="相机宽度")
+    parser.add_argument("--camera-resolution-height", type=int, default=720, help="相机高度")
+    parser.add_argument("--camera-frequency", type=float, default=20.0, help="相机频率（Hz）")
+    parser.add_argument("--camera-focal-length", type=float, default=5.0, help="相机焦距")
+    parser.add_argument("--ros-topic-prefix", type=str, default="/AutoCalib_Workshop", help="相机与激光雷达话题前缀")
+    parser.add_argument("--cmd-vel-topic", type=str, default="/cmd_vel", help="车辆速度控制话题")
+    parser.add_argument("--lidar-config", type=str, default="Example_Rotary", help="Isaac LiDAR 配置名")
+    parser.add_argument("--disable-camera", action="store_true", help="不创建顶置相机")
+    parser.add_argument("--disable-lidars", action="store_true", help="不创建四角激光雷达")
+    parser.add_argument("--disable-vehicle-camera", action="store_true", help="不创建车载前视相机")
+    parser.add_argument("--disable-vehicle-lidar", action="store_true", help="不创建车载 3D 激光雷达")
+    parser.add_argument("--disable-down-camera", action="store_true", help="不创建车载下视相机")
+    parser.add_argument("--disable-vehicle-2d-lidar", action="store_true", help="不创建车载 2D 激光雷达")
+    parser.add_argument("--disable-vehicle-imu", action="store_true", help="不创建车载 IMU")
+    parser.add_argument("--vehicle-camera-topic", type=str, default="/sensor/front_camera/image_raw", help="车载前视相机图像话题")
+    parser.add_argument("--down-camera-topic", type=str, default="/sensor/down_camera/image_raw", help="车载下视相机图像话题")
+    parser.add_argument("--vehicle-lidar-topic", type=str, default="/sensor/lidar_3d/pointcloud", help="车载 3D 激光雷达点云话题")
+    parser.add_argument("--vehicle-2d-lidar-topic", type=str, default="/sensor/lidar_2d/scan", help="车载 2D 激光雷达 LaserScan 话题")
+    parser.add_argument("--vehicle-imu-topic", type=str, default="/sensor/imu/data", help="车载 IMU 话题")
+    parser.add_argument("--vehicle-camera-x", type=float, default=0.82, help="车载前视相机相对 base_link X 坐标")
+    parser.add_argument("--vehicle-camera-y", type=float, default=0.0, help="车载前视相机相对 base_link Y 坐标")
+    parser.add_argument("--vehicle-camera-z", type=float, default=0.32, help="车载前视相机相对 base_link Z 坐标")
+    parser.add_argument("--down-camera-x", type=float, default=0.40, help="车载下视相机相对 base_link X 坐标")
+    parser.add_argument("--down-camera-y", type=float, default=0.0, help="车载下视相机相对 base_link Y 坐标")
+    parser.add_argument("--down-camera-z", type=float, default=0.30, help="车载下视相机相对 base_link Z 坐标")
+    parser.add_argument("--disable-down-camera-intrinsic-target", action="store_true", help="不创建下视相机 3D ChArUco 内参标定台")
+    parser.add_argument("--down-camera-target-x", type=float, default=0.0, help="下视相机内参标定台中心 X 坐标")
+    parser.add_argument("--down-camera-target-y", type=float, default=-2.15, help="下视相机内参标定台中心 Y 坐标")
+    parser.add_argument("--down-camera-target-length", type=float, default=2.70, help="下视相机内参标定台长度（米）")
+    parser.add_argument("--down-camera-target-width", type=float, default=0.90, help="下视相机内参标定台宽度（米）")
+    parser.add_argument("--down-camera-target-max-height", type=float, default=0.045, help="下视相机内参标定台最高点高度（米）")
+    parser.add_argument("--down-camera-target-squares-x", type=int, default=30, help="下视相机 ChArUco 纹理 X 方向格数")
+    parser.add_argument("--down-camera-target-squares-y", type=int, default=10, help="下视相机 ChArUco 纹理 Y 方向格数")
+    parser.add_argument("--vehicle-lidar-x", type=float, default=0.55, help="车载 3D LiDAR 相对 base_link X 坐标")
+    parser.add_argument("--vehicle-lidar-y", type=float, default=0.0, help="车载 LiDAR 相对 base_link Y 坐标")
+    parser.add_argument("--vehicle-lidar-z", type=float, default=0.46, help="车载 3D LiDAR 相对 base_link Z 坐标")
+    parser.add_argument("--vehicle-2d-lidar-x", type=float, default=0.70, help="车载 2D LiDAR 相对 base_link X 坐标")
+    parser.add_argument("--vehicle-2d-lidar-y", type=float, default=0.0, help="车载 2D LiDAR 相对 base_link Y 坐标")
+    parser.add_argument("--vehicle-2d-lidar-z", type=float, default=0.24, help="车载 2D LiDAR 相对 base_link Z 坐标")
+    parser.add_argument("--vehicle-imu-x", type=float, default=0.40, help="车载 IMU 相对 base_link X 坐标")
+    parser.add_argument("--vehicle-imu-y", type=float, default=0.0, help="车载 IMU 相对 base_link Y 坐标")
+    parser.add_argument("--vehicle-imu-z", type=float, default=0.26, help="车载 IMU 相对 base_link Z 坐标")
+    parser.add_argument("--disable-2d-lidar-targets", action="store_true", help="不创建 2D 激光雷达角落外参标定靶标")
+    parser.add_argument("--lidar-2d-target-width", type=float, default=0.82, help="2D LiDAR 靶标水平宽度（米）")
+    parser.add_argument("--lidar-2d-target-height", type=float, default=1.60, help="2D LiDAR 靶标有效高度（米）")
+    parser.add_argument("--lidar-2d-target-thickness", type=float, default=0.04, help="2D LiDAR 靶标板厚（米）")
+    parser.add_argument("--lidar-2d-target-bottom-z", type=float, default=0.08, help="2D LiDAR 靶标底部高度（米）")
+    parser.add_argument("--lidar-2d-target-slope-angle-deg", type=float, default=45.0, help="2D LiDAR 斜板相对垂直基准面的夹角（度）")
+    parser.add_argument("--disable-external-telemetry", action="store_true", help="不发布 external 仿真遥测")
+    parser.add_argument("--external-telemetry-topic", type=str, default="/isaac/external_localization/telemetry", help="external 仿真遥测话题")
+    parser.add_argument("--external-reference-source-name", type=str, default="isaac_sim_truth_source", help="external 真值源名称")
+    parser.add_argument("--external-workcell-zone-id", type=str, default="isaac_workcell_zone_a", help="external 所属工位 ID")
+    parser.add_argument("--external-publish-hz", type=float, default=20.0, help="external 遥测发布频率（Hz）")
+    parser.add_argument("--external-position-noise-stddev-m", type=float, default=0.005, help="位置噪声标准差（米）")
+    parser.add_argument("--external-yaw-noise-stddev-rad", type=float, default=0.003, help="航向噪声标准差（弧度）")
+    parser.add_argument("--external-position-stddev-m", type=float, default=0.01, help="上报的位置标准差（米）")
+    parser.add_argument("--external-yaw-stddev-rad", type=float, default=0.01, help="上报的航向标准差（弧度）")
+    parser.add_argument("--external-tracking-loss-ratio", type=float, default=0.0, help="上报的跟踪丢失比例")
+    parser.add_argument("--external-time-sync-offset-ms", type=float, default=2.0, help="上报的时间同步偏差（毫秒）")
+    parser.add_argument("--external-quality-score", type=float, default=0.98, help="上报的 external 质量分数")
+    parser.add_argument("--external-observed-target-count", type=int, default=4, help="上报的目标观测数量")
+    parser.add_argument("--external-pose-drop-rate", type=float, default=0.0, help="位姿失效率，取值 [0,1]")
+    parser.add_argument("--disable-chassis-telemetry", action="store_true", help="不发布底盘标定遥测")
+    parser.add_argument("--chassis-telemetry-topic", type=str, default="/chassis/telemetry", help="底盘标定遥测话题")
+    parser.add_argument("--chassis-telemetry-hz", type=float, default=20.0, help="底盘标定遥测发布频率（Hz）")
+    parser.add_argument(
+        "--chassis-type",
+        choices=["differential", "ackermann", "single_steer", "multi_steer"],
+        default="ackermann",
+        help="仿真底盘类型，用于遥测消息",
+    )
+    parser.add_argument("--wheel-radius", type=float, default=0.10, help="遥测换算用轮半径（米）")
+    parser.add_argument("--wheel-track", type=float, default=0.52, help="差速/多轮底盘轮距（米）")
+    parser.add_argument("--wheel-base", type=float, default=0.80, help="阿克曼底盘轴距（米）")
+    parser.add_argument("--odom-noise-stddev-m", type=float, default=0.002, help="底盘里程计位置噪声标准差（米）")
+    parser.add_argument("--yaw-noise-stddev-rad", type=float, default=0.001, help="底盘里程计 yaw 噪声标准差（弧度）")
+    parser.add_argument("--disable-control-telemetry", action="store_true", help="不发布运控评估遥测")
+    parser.add_argument("--control-telemetry-topic", type=str, default="/control/telemetry", help="运控评估遥测话题")
+    parser.add_argument("--control-telemetry-hz", type=float, default=20.0, help="运控评估遥测发布频率（Hz）")
+    parser.add_argument("--control-reference-speed-ms", type=float, default=0.3, help="运控遥测参考速度（m/s）")
+    parser.add_argument("--control-reference-y-m", type=float, default=0.0, help="运控直线参考轨迹的 Y 坐标（米）")
+    parser.add_argument("--control-parameter-version", type=str, default="isaac_control_baseline_v1", help="当前控制参数版本")
+    parser.add_argument("--disable-sensor-telemetry", action="store_true", help="不发布传感器标定遥测")
+    parser.add_argument("--sensor-telemetry-topic", type=str, default="/sensor_calibration/telemetry", help="传感器标定遥测话题")
+    parser.add_argument("--sensor-telemetry-hz", type=float, default=10.0, help="传感器标定遥测发布频率（Hz）")
+    parser.add_argument("--front-camera-sensor-id", type=str, default="demo_front_camera", help="前视相机传感器 ID")
+    parser.add_argument("--sensor-target-sample-count", type=int, default=20, help="传感器标定目标样本数")
+    parser.add_argument("--sensor-quality-score", type=float, default=0.95, help="传感器观测质量评分，取值 [0,1]")
+    parser.add_argument("--sensor-target-missing", action="store_true", help="发布 target_detected=false 的传感器遥测")
+    parser.add_argument("--disable-calibration-boards", action="store_true", help="不创建多姿态棋盘格标定目标阵列")
+    parser.add_argument("--disable-calibration-fixtures", action="store_true", help="不创建地面标定路线和停车目标标识")
+    parser.add_argument("--straight-track-length", type=float, default=5.0, help="底盘直线标定路线长度（米）")
+    parser.add_argument("--straight-track-width", type=float, default=0.7, help="底盘直线标定路线宽度（米）")
+    parser.add_argument("--arc-track-radius", type=float, default=1.6, help="圆弧/转向标定路线半径（米）")
+    parser.add_argument("--random-seed", type=int, default=42, help="随机种子，保证实验可重复")
+    parser.add_argument("--vehicle-id", type=str, default="demo_agv_001", help="车辆 ID，用于 manifest 和后端会话配置对齐")
+    parser.add_argument("--vehicle-initial-x", type=float, default=0.0, help="车辆初始 X 坐标")
+    parser.add_argument("--vehicle-initial-y", type=float, default=0.0, help="车辆初始 Y 坐标")
+    parser.add_argument("--vehicle-initial-z", type=float, default=0.0, help="车辆初始 Z 坐标")
+    parser.add_argument(
+        "--vehicle-source",
+        choices=["urdf"],
+        default="urdf",
+        help="车辆来源；当前固定为 URDF 路径直接导入",
+    )
+    parser.add_argument("--max-steer-angle-deg", type=float, default=32.0, help="阿克曼前轮最大转角（度）")
+    parser.add_argument("--max-speed-ms", type=float, default=1.2, help="阿克曼小车最大车速（m/s）")
+    parser.add_argument("--urdf-path", type=str, default="", help="车辆 URDF 路径；默认使用仓库内置阿克曼小车 URDF")
+    parser.add_argument("--usd-path", type=str, default="", help=argparse.SUPPRESS)
+    parser.add_argument("--disable-urdf-visual-origin-fix", action="store_true", help=argparse.SUPPRESS)
+    parser.add_argument("--force-rebuild-usd", action="store_true", help=argparse.SUPPRESS)
+    parser.add_argument("--scene-manifest-path", type=str, default="", help="输出车间场景 manifest JSON 的路径")
+    args, _ = parser.parse_known_args()
+    return args
+
+
+ARGS = parse_args()
+SCRIPT_PATH = Path(__file__).resolve()
+
+
+def find_project_root(script_path):
+    for parent in [script_path.parent, *script_path.parents]:
+        if (parent / "src" / "simulation" / "isaac_workshop_sim").is_dir():
+            return parent
+    raise RuntimeError(f"无法从脚本路径定位项目根目录: {script_path}")
+
+
+PROJECT_ROOT = find_project_root(SCRIPT_PATH)
+ISAAC_SIM_ROOT = SCRIPT_PATH.parents[1]
+WORKSPACE_ROOT = PROJECT_ROOT.parent
+MODELS_ROOT = WORKSPACE_ROOT / "models"
+ASSETS_ROOT = ISAAC_SIM_ROOT / "assets"
+DEFAULT_ACKERMANN_URDF_PATH = ASSETS_ROOT / "urdf" / "ackermann_front_steer_rear_drive.urdf"
+GENERATED_ROOT = PROJECT_ROOT / ".isaac_cache"
+GENERATED_ROOT.mkdir(parents=True, exist_ok=True)
+
+
+def validate_args(args):
+    numeric_positive_fields = {
+        "room_length": args.room_length,
+        "room_width": args.room_width,
+        "room_height": args.room_height,
+        "wall_thickness": args.wall_thickness,
+        "checkerboard_square_size": args.checkerboard_square_size,
+        "camera_focal_length": args.camera_focal_length,
+    }
+    for name, value in numeric_positive_fields.items():
+        if value <= 0:
+            raise ValueError(f"{name} 必须大于 0，当前值={value}")
+
+    if args.checkerboard_rows <= 0 or args.checkerboard_cols <= 0:
+        raise ValueError("checkerboard_rows 和 checkerboard_cols 必须大于 0。")
+    if args.camera_resolution_width <= 0 or args.camera_resolution_height <= 0:
+        raise ValueError("camera resolution 必须大于 0。")
+    if args.camera_frequency <= 0:
+        raise ValueError("camera_frequency 必须大于 0。")
+    if args.external_publish_hz < 0 or args.chassis_telemetry_hz < 0 or args.control_telemetry_hz < 0 or args.sensor_telemetry_hz < 0:
+        raise ValueError("发布频率不能为负数。")
+    if not 0.0 <= args.external_pose_drop_rate <= 1.0:
+        raise ValueError("external_pose_drop_rate 必须在 [0,1] 范围内。")
+    if not 0.0 <= args.external_quality_score <= 1.0:
+        raise ValueError("external_quality_score 必须在 [0,1] 范围内。")
+    if not 0.0 <= args.sensor_quality_score <= 1.0:
+        raise ValueError("sensor_quality_score 必须在 [0,1] 范围内。")
+    if args.external_observed_target_count < 0 or args.sensor_target_sample_count < 0:
+        raise ValueError("目标数量/样本数不能为负数。")
+    if args.wheel_radius <= 0 or args.wheel_track <= 0 or args.wheel_base <= 0:
+        raise ValueError("wheel_radius、wheel_track 和 wheel_base 必须大于 0。")
+    if args.odom_noise_stddev_m < 0 or args.yaw_noise_stddev_rad < 0:
+        raise ValueError("里程计噪声不能为负数。")
+    if args.straight_track_length <= 0 or args.straight_track_width <= 0 or args.arc_track_radius <= 0:
+        raise ValueError("标定路线尺寸必须大于 0。")
+    if args.lidar_2d_target_width <= 0 or args.lidar_2d_target_height <= 0 or args.lidar_2d_target_thickness <= 0:
+        raise ValueError("2D LiDAR 靶标尺寸必须大于 0。")
+    if args.lidar_2d_target_bottom_z < 0:
+        raise ValueError("2D LiDAR 靶标底部高度不能为负数。")
+    if not 5.0 <= args.lidar_2d_target_slope_angle_deg <= 85.0:
+        raise ValueError("2D LiDAR 斜板角度应在 [5,85] 度范围内。")
+    if args.down_camera_target_length <= 0 or args.down_camera_target_width <= 0:
+        raise ValueError("下视相机内参标定台长度和宽度必须大于 0。")
+    if args.down_camera_target_max_height <= 0:
+        raise ValueError("下视相机内参标定台最高点必须大于 0。")
+    if args.down_camera_target_max_height <= 0.012:
+        raise ValueError("下视相机内参标定台最高点必须高于低平面 0.012m。")
+    if args.down_camera_target_max_height >= 0.08:
+        raise ValueError("下视相机内参标定台最高点应小于默认底盘最小离地间隙 0.08m。")
+    if args.down_camera_target_squares_x < 4 or args.down_camera_target_squares_y < 4:
+        raise ValueError("下视相机 ChArUco 纹理格数至少为 4x4。")
+    down_target_square_x = args.down_camera_target_length / args.down_camera_target_squares_x
+    down_target_square_y = args.down_camera_target_width / args.down_camera_target_squares_y
+    square_aspect_error = abs(down_target_square_x - down_target_square_y) / max(down_target_square_x, down_target_square_y)
+    if square_aspect_error > 0.05:
+        raise ValueError("下视相机 ChArUco 物理单格应接近正方形，请同步调整 target 尺寸和 squares 数。")
+    target_half_x = args.down_camera_target_length / 2.0
+    target_half_y = args.down_camera_target_width / 2.0
+    if abs(args.down_camera_target_x) + target_half_x > args.room_length / 2.0:
+        raise ValueError("下视相机内参标定台 X 方向超出车间范围。")
+    if abs(args.down_camera_target_y) + target_half_y > args.room_width / 2.0:
+        raise ValueError("下视相机内参标定台 Y 方向超出车间范围。")
+
+    if args.max_steer_angle_deg <= 0 or args.max_speed_ms <= 0:
+        raise ValueError("max_steer_angle_deg 和 max_speed_ms 必须大于 0。")
+
+    urdf_path = Path(args.urdf_path).expanduser().resolve() if args.urdf_path else DEFAULT_ACKERMANN_URDF_PATH
+    if not urdf_path.exists():
+        raise FileNotFoundError(f"未找到车辆 URDF: {urdf_path}")
+
+
+validate_args(ARGS)
+os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
+
+from isaacsim import SimulationApp
+
+simulation_app = SimulationApp({"headless": ARGS.headless})
+
+from omni.isaac.core.utils.extensions import enable_extension
+
+enable_extension("omni.isaac.ros2_bridge")
+enable_extension("omni.isaac.sensor")
+simulation_app.update()
+
+import numpy as np
+from PIL import Image
+import omni.graph.core as og
+import omni.kit.commands
+import omni.usd
+import omni.replicator.core as rep
+from pxr import Gf, PhysxSchema, Sdf, UsdGeom, UsdShade, Vt
+
+from omni.isaac.core import World
+from omni.isaac.core.objects import FixedCuboid
+from omni.isaac.core.robots import Robot
+from omni.isaac.core.utils.prims import create_prim
+from omni.isaac.core.utils.rotations import euler_angles_to_quat
+from omni.isaac.core.utils.viewports import set_camera_view
+
+try:
+    import rclpy
+except ImportError:
+    rclpy = None
+
+try:
+    from calibration_external_localization_interfaces.msg import ExternalLocalizationTelemetry
+except ImportError:
+    ExternalLocalizationTelemetry = None
+
+try:
+    from calibration_sensor_interfaces.msg import CaptureIntentType, SensorCalibrationTelemetry
+except ImportError:
+    CaptureIntentType = None
+    SensorCalibrationTelemetry = None
+
+try:
+    from calibration_vehicle_profile_interfaces.msg import (
+        ChassisType,
+        ControllerAlgorithmType,
+        SensorType,
+    )
+except ImportError:
+    ChassisType = None
+    ControllerAlgorithmType = None
+    SensorType = None
+
+try:
+    from calibration_chassis_interfaces.msg import ChassisTelemetry, WheelModuleState
+except ImportError:
+    ChassisTelemetry = None
+    WheelModuleState = None
+
+try:
+    from calibration_control_interfaces.msg import ControlTelemetry
+except ImportError:
+    ControlTelemetry = None
+
+try:
+    from sensor_msgs.msg import Imu, LaserScan
+except ImportError:
+    Imu = None
+    LaserScan = None
+
+
+def clamp(value, low, high):
+    return max(low, min(high, value))
+
+
+def resolve_topic(prefix, suffix):
+    normalized_prefix = prefix.rstrip("/")
+    normalized_suffix = suffix if suffix.startswith("/") else f"/{suffix}"
+    return f"{normalized_prefix}{normalized_suffix}" if normalized_prefix else normalized_suffix
+
+
+def quat_wxyz_to_yaw(quat_wxyz):
+    w, x, y, z = quat_wxyz
+    siny_cosp = 2.0 * (w * z + x * y)
+    cosy_cosp = 1.0 - 2.0 * (y * y + z * z)
+    return math.atan2(siny_cosp, cosy_cosp)
+
+
+def normalize_angle(angle):
+    return math.atan2(math.sin(angle), math.cos(angle))
+
+
+def chassis_type_value(name):
+    if ChassisType is None:
+        return 0
+    mapping = {
+        "ackermann": ChassisType.ACKERMANN,
+        "differential": ChassisType.DIFFERENTIAL,
+        "single_steer": ChassisType.SINGLE_STEER_WHEEL,
+        "multi_steer": ChassisType.MULTI_STEER_WHEEL,
+    }
+    return mapping.get(name, ChassisType.CHASSIS_TYPE_UNSPECIFIED)
+
+
+def controller_algorithm_value(name):
+    if ControllerAlgorithmType is None:
+        return 0
+    mapping = {
+        "pid": ControllerAlgorithmType.PID,
+        "mpc": ControllerAlgorithmType.MPC,
+        "lqr": ControllerAlgorithmType.LQR,
+        "pure_pursuit": ControllerAlgorithmType.PURE_PURSUIT,
+    }
+    return mapping.get(name, ControllerAlgorithmType.CONTROLLER_ALGORITHM_UNSPECIFIED)
+
+
+def vehicle_state_from_isaac(agv):
+    position, quat = agv.get_world_pose()
+    yaw_rad = quat_wxyz_to_yaw(quat)
+    linear_velocity = agv.get_linear_velocity()
+    try:
+        angular_velocity = agv.get_angular_velocity()
+    except Exception:
+        angular_velocity = np.array([0.0, 0.0, 0.0])
+    return position, yaw_rad, linear_velocity, angular_velocity
+
+
+def make_mesh_path_absolute(mesh_filename, source_dir):
+    mesh_path = Path(mesh_filename)
+    if mesh_path.is_absolute():
+        return str(mesh_path)
+    return str((source_dir / mesh_path).resolve())
+
+
+def prepare_isaac_urdf(source_urdf_path, output_urdf_path):
+    tree = ET.parse(source_urdf_path)
+    root = tree.getroot()
+    source_dir = source_urdf_path.parent
+
+    local_mesh_links = {
+        "left_steering_hinge",
+        "right_steering_hinge",
+        "left_wheel",
+        "right_wheel",
+        "left_rear_wheel",
+        "right_rear_wheel",
+        "camera",
+        "laser",
+    }
+
+    for link in root.findall("link"):
+        link_name = link.get("name", "")
+        for section_name in ("visual", "collision"):
+            section = link.find(section_name)
+            if section is None:
+                continue
+            mesh = section.find("geometry/mesh")
+            if mesh is not None and mesh.get("filename"):
+                mesh.set("filename", make_mesh_path_absolute(mesh.get("filename"), source_dir))
+            if link_name in local_mesh_links:
+                origin = section.find("origin")
+                if origin is None:
+                    origin = ET.SubElement(section, "origin")
+                origin.set("xyz", "0 0 0")
+                origin.set("rpy", "0 0 0")
+
+    output_urdf_path.parent.mkdir(parents=True, exist_ok=True)
+    tree.write(output_urdf_path, encoding="utf-8", xml_declaration=True)
+    return output_urdf_path
+
+
+def create_checkerboard_image(filepath, rows=6, cols=9, square_size_px=500):
+    width = cols * square_size_px
+    height = rows * square_size_px
+    img = np.ones((height, width, 3), dtype=np.uint8) * 255
+
+    for r in range(rows):
+        for c in range(cols):
+            if (r + c) % 2 == 1:
+                img[r * square_size_px:(r + 1) * square_size_px, c * square_size_px:(c + 1) * square_size_px] = 0
+
+    border = square_size_px
+    img_with_border = np.pad(
+        img,
+        pad_width=((border, border), (border, border), (0, 0)),
+        mode="constant",
+        constant_values=255,
+    )
+
+    abs_filepath = Path(filepath).resolve()
+    abs_filepath.parent.mkdir(parents=True, exist_ok=True)
+    Image.fromarray(img_with_border).save(abs_filepath)
+    usd_filepath = str(abs_filepath).replace("\\", "/")
+    print(f"[*] 棋盘格纹理已生成: {usd_filepath}")
+    return usd_filepath
+
+
+def create_charuco_image(filepath, squares_x=30, squares_y=10, square_size_px=90):
+    width = squares_x * square_size_px
+    height = squares_y * square_size_px
+    abs_filepath = Path(filepath).resolve()
+    abs_filepath.parent.mkdir(parents=True, exist_ok=True)
+
+    try:
+        import cv2
+        dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_250)
+        try:
+            board = cv2.aruco.CharucoBoard((squares_x, squares_y), 1.0, 0.70, dictionary)
+        except TypeError:
+            board = cv2.aruco.CharucoBoard_create(squares_x, squares_y, 1.0, 0.70, dictionary)
+        if hasattr(board, "generateImage"):
+            img = board.generateImage((width, height), marginSize=0)
+        else:
+            img = board.draw((width, height), marginSize=0)
+        if len(img.shape) == 2:
+            img = np.repeat(img[:, :, None], 3, axis=2)
+        Image.fromarray(img).save(abs_filepath)
+        usd_filepath = str(abs_filepath).replace("\\", "/")
+        print(f"[*] ChArUco 纹理已生成: {usd_filepath}")
+        return usd_filepath
+    except Exception as exc:
+        print(f"[WARN] OpenCV ChArUco 生成失败，使用内置 ChArUco 风格纹理: {exc}")
+
+    img = np.ones((height, width, 3), dtype=np.uint8) * 255
+    marker_cells = 6
+    marker_margin = max(3, square_size_px // 7)
+    marker_size = square_size_px - 2 * marker_margin
+    marker_cell_px = max(1, marker_size // marker_cells)
+    marker_px = marker_cell_px * marker_cells
+
+    def marker_bits(marker_id):
+        marker = np.ones((marker_cells, marker_cells), dtype=np.uint8) * 255
+        marker[0, :] = 0
+        marker[-1, :] = 0
+        marker[:, 0] = 0
+        marker[:, -1] = 0
+        state = (marker_id + 1) * 1103515245 + 12345
+        for r in range(1, marker_cells - 1):
+            for c in range(1, marker_cells - 1):
+                state = (state * 1664525 + 1013904223 + r * 97 + c * 193) & 0xFFFFFFFF
+                marker[r, c] = 0 if (state & 1) else 255
+        return marker
+
+    marker_id = 0
+    for r in range(squares_y):
+        for c in range(squares_x):
+            y0 = r * square_size_px
+            x0 = c * square_size_px
+            if (r + c) % 2 == 1:
+                img[y0:y0 + square_size_px, x0:x0 + square_size_px] = 0
+                continue
+            marker = marker_bits(marker_id)
+            marker_img = np.kron(marker, np.ones((marker_cell_px, marker_cell_px), dtype=np.uint8))
+            marker_img = marker_img[:marker_px, :marker_px]
+            marker_rgb = np.repeat(marker_img[:, :, None], 3, axis=2)
+            marker_y = y0 + (square_size_px - marker_px) // 2
+            marker_x = x0 + (square_size_px - marker_px) // 2
+            img[marker_y:marker_y + marker_px, marker_x:marker_x + marker_px] = marker_rgb
+            marker_id += 1
+
+    Image.fromarray(img).save(abs_filepath)
+    usd_filepath = str(abs_filepath).replace("\\", "/")
+    print(f"[*] ChArUco 风格纹理已生成: {usd_filepath}")
+    return usd_filepath
+
+
+def add_corner_rotary_lidars(room_length, room_width, height, lidar_config, topic_prefix):
+    offset = 0.3
+    x_pos = (room_length / 2.0) - offset
+    y_pos = (room_width / 2.0) - offset
+
+    lidar_configs = [
+        {"name": "FL", "pos": [x_pos, y_pos, height], "yaw": np.degrees(np.arctan2(-y_pos, -x_pos))},
+        {"name": "FR", "pos": [x_pos, -y_pos, height], "yaw": np.degrees(np.arctan2(y_pos, -x_pos))},
+        {"name": "BL", "pos": [-x_pos, y_pos, height], "yaw": np.degrees(np.arctan2(-y_pos, x_pos))},
+        {"name": "BR", "pos": [-x_pos, -y_pos, height], "yaw": np.degrees(np.arctan2(y_pos, x_pos))},
+    ]
+
+    keys = og.Controller.Keys
+    graph_path = "/World/ROS2_Lidar_Graph"
+    nodes = [
+        ("OnTick", "omni.graph.action.OnTick"),
+        ("ReadSimTime", "omni.isaac.core_nodes.IsaacReadSimulationTime"),
+        ("PublishTF", "omni.isaac.ros2_bridge.ROS2PublishTransformTree"),
+    ]
+    connections = [
+        ("OnTick.outputs:tick", "PublishTF.inputs:execIn"),
+        ("ReadSimTime.outputs:simulationTime", "PublishTF.inputs:timeStamp"),
+    ]
+    set_values = []
+    lidar_paths = []
+
+    for cfg in lidar_configs:
+        lidar_path = f"/World/Sensors/Lidar_{cfg['name']}"
+        lidar_paths.append(lidar_path)
+        quat = euler_angles_to_quat(np.array([0, 15.0, cfg["yaw"]]), degrees=True)
+        orientation = Gf.Quatd(quat[0], quat[1], quat[2], quat[3])
+        omni.kit.commands.execute(
+            "IsaacSensorCreateRtxLidar",
+            path=lidar_path,
+            parent=None,
+            config=lidar_config,
+            translation=Gf.Vec3d(*cfg["pos"]),
+            orientation=orientation,
+        )
+        render_product = rep.create.render_product(lidar_path, [1, 1])
+        helper_name = f"ROS2LidarHelper_{cfg['name']}"
+        nodes.append((helper_name, "omni.isaac.ros2_bridge.ROS2RtxLidarHelper"))
+        connections.append(("OnTick.outputs:tick", f"{helper_name}.inputs:execIn"))
+        set_values.extend([
+            (f"{helper_name}.inputs:renderProductPath", str(render_product.path)),
+            (f"{helper_name}.inputs:topicName", f"{topic_prefix}/{cfg['name'].lower()}/pointcloud"),
+            (f"{helper_name}.inputs:frameId", f"Lidar_{cfg['name']}"),
+            (f"{helper_name}.inputs:type", "point_cloud"),
+            (f"{helper_name}.inputs:fullScan", True),
+        ])
+
+    set_values.append(("PublishTF.inputs:targetPrims", lidar_paths))
+    og.Controller.edit(
+        {"graph_path": graph_path, "evaluator_name": "execution"},
+        {keys.CREATE_NODES: nodes, keys.CONNECT: connections, keys.SET_VALUES: set_values},
+    )
+
+
+def create_raw_usd_material(stage, mat_path, tex_path):
+    material = UsdShade.Material.Define(stage, mat_path)
+    pbr_shader = UsdShade.Shader.Define(stage, f"{mat_path}/PBRShader")
+    pbr_shader.CreateIdAttr("UsdPreviewSurface")
+    pbr_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(1.0)
+    pbr_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
+
+    tex_sampler = UsdShade.Shader.Define(stage, f"{mat_path}/diffuseTexture")
+    tex_sampler.CreateIdAttr("UsdUVTexture")
+    tex_sampler.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(Sdf.AssetPath(tex_path))
+    tex_sampler.CreateInput("magFilter", Sdf.ValueTypeNames.Token).Set("nearest")
+    tex_sampler.CreateInput("minFilter", Sdf.ValueTypeNames.Token).Set("nearest")
+
+    st_reader = UsdShade.Shader.Define(stage, f"{mat_path}/stReader")
+    st_reader.CreateIdAttr("UsdPrimvarReader_float2")
+    st_reader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("st")
+
+    tex_sampler.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(st_reader.ConnectableAPI(), "result")
+    pbr_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(tex_sampler.ConnectableAPI(), "rgb")
+    material.CreateSurfaceOutput().ConnectToSource(pbr_shader.ConnectableAPI(), "surface")
+    return material
+
+
+def create_textured_board(stage, prim_path, width, height, center, euler_rot_deg, usd_material):
+    mesh = UsdGeom.Mesh.Define(stage, prim_path)
+    half_width, half_height = width / 2.0, height / 2.0
+    mesh.GetPointsAttr().Set(Vt.Vec3fArray([
+        Gf.Vec3f(-half_width, -half_height, 0),
+        Gf.Vec3f(half_width, -half_height, 0),
+        Gf.Vec3f(half_width, half_height, 0),
+        Gf.Vec3f(-half_width, half_height, 0),
+    ]))
+    mesh.GetFaceVertexCountsAttr().Set([4])
+    mesh.GetFaceVertexIndicesAttr().Set([0, 1, 2, 3])
+    mesh.GetNormalsAttr().Set([Gf.Vec3f(0, 0, 1)] * 4)
+    mesh.SetNormalsInterpolation(UsdGeom.Tokens.vertex)
+
+    primvars_api = UsdGeom.PrimvarsAPI(mesh)
+    st_primvar = primvars_api.CreatePrimvar("st", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.vertex)
+    st_primvar.Set([Gf.Vec2f(0, 0), Gf.Vec2f(1, 0), Gf.Vec2f(1, 1), Gf.Vec2f(0, 1)])
+    mesh.GetExtentAttr().Set([Gf.Vec3f(-half_width, -half_height, -0.01), Gf.Vec3f(half_width, half_height, 0.01)])
+
+    xform = UsdGeom.Xformable(mesh)
+    xform.AddTranslateOp().Set(Gf.Vec3d(*center))
+    xform.AddRotateXYZOp().Set(Gf.Vec3f(*euler_rot_deg))
+    UsdShade.MaterialBindingAPI.Apply(mesh.GetPrim()).Bind(usd_material)
+    return mesh
+
+
+def create_textured_top_strip(stage, prim_path, x_edges, y_min, y_max, z_values, usd_material):
+    mesh = UsdGeom.Mesh.Define(stage, prim_path)
+    x0 = x_edges[0]
+    x1 = x_edges[-1]
+    total_length = max(x1 - x0, 1e-6)
+
+    points = []
+    st_values = []
+    for x, z in zip(x_edges, z_values):
+        u = (x - x0) / total_length
+        points.append(Gf.Vec3f(x, y_min, z))
+        points.append(Gf.Vec3f(x, y_max, z))
+        st_values.append(Gf.Vec2f(u, 0.0))
+        st_values.append(Gf.Vec2f(u, 1.0))
+
+    face_vertex_counts = []
+    face_vertex_indices = []
+    for index in range(len(x_edges) - 1):
+        face_vertex_counts.append(4)
+        face_vertex_indices.extend([2 * index, 2 * (index + 1), 2 * (index + 1) + 1, 2 * index + 1])
+
+    mesh.GetPointsAttr().Set(Vt.Vec3fArray(points))
+    mesh.GetFaceVertexCountsAttr().Set(face_vertex_counts)
+    mesh.GetFaceVertexIndicesAttr().Set(face_vertex_indices)
+    mesh.GetExtentAttr().Set([
+        Gf.Vec3f(min(x_edges), y_min, min(z_values) - 0.005),
+        Gf.Vec3f(max(x_edges), y_max, max(z_values) + 0.005),
+    ])
+
+    primvars_api = UsdGeom.PrimvarsAPI(mesh)
+    st_primvar = primvars_api.CreatePrimvar("st", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.vertex)
+    st_primvar.Set(st_values)
+    UsdShade.MaterialBindingAPI.Apply(mesh.GetPrim()).Bind(usd_material)
+    return mesh
+
+
+def add_down_camera_intrinsic_target(world, stage, args, material):
+    length = args.down_camera_target_length
+    width = args.down_camera_target_width
+    center_x = args.down_camera_target_x
+    center_y = args.down_camera_target_y
+    z_low = 0.012
+    z_high = args.down_camera_target_max_height
+    x_start = center_x - length / 2.0
+    x_low_end = x_start + length * 0.22
+    x_ramp_end = x_start + length * 0.74
+    x_end = center_x + length / 2.0
+    y_min = center_y - width / 2.0
+    y_max = center_y + width / 2.0
+    base_thickness = 0.006
+
+    world.scene.add(FixedCuboid(
+        prim_path="/World/Workshop/DownCameraIntrinsicTarget/Base",
+        name="down_camera_intrinsic_target_base",
+        position=np.array([center_x, center_y, base_thickness / 2.0]),
+        scale=np.array([length + 0.08, width + 0.08, base_thickness]),
+        color=np.array([0.045, 0.050, 0.052]),
+    ))
+
+    create_textured_top_strip(
+        stage,
+        "/World/Workshop/DownCameraIntrinsicTarget/CharucoRampSurface",
+        [x_start, x_low_end, x_ramp_end, x_end],
+        y_min,
+        y_max,
+        [z_low, z_low, z_high, z_high],
+        material,
+    )
+
+    specs = [{
+        "id": "down_camera_3d_charuco_ramp",
+        "target_type": "down_camera_intrinsic",
+        "pattern": "charuco",
+        "purpose": "intrinsic_calibration_with_depth_and_pose_gradient",
+        "center": [center_x, center_y, (z_low + z_high) / 2.0],
+        "length_m": length,
+        "width_m": width,
+        "squares_x": args.down_camera_target_squares_x,
+        "squares_y": args.down_camera_target_squares_y,
+        "square_size_m": width / args.down_camera_target_squares_y,
+        "min_height_m": z_low,
+        "max_height_m": z_high,
+        "recommended_drive_axis": "+x",
+        "recommended_speed_mps": 0.10,
+        "surfaces": [
+            {
+                "id": "low_flat_charuco",
+                "type": "flat",
+                "x_range_m": [x_start, x_low_end],
+                "z_range_m": [z_low, z_low],
+            },
+            {
+                "id": "continuous_slope_charuco",
+                "type": "continuous_slope",
+                "x_range_m": [x_low_end, x_ramp_end],
+                "z_range_m": [z_low, z_high],
+            },
+            {
+                "id": "high_flat_charuco",
+                "type": "flat",
+                "x_range_m": [x_ramp_end, x_end],
+                "z_range_m": [z_high, z_high],
+            },
+        ],
+    }]
+    return specs
+
+
+def lidar_2d_target_wall_slots(args):
+    if args.disable_2d_lidar_targets:
+        return {}
+
+    width = args.lidar_2d_target_width
+    height = args.lidar_2d_target_height
+    gap = 0.12
+    edge_margin = 0.18
+    bay_margin = 0.07
+    bay_width = max(1.90, 2.0 * width + gap + 2.0 * bay_margin)
+    bay_z_min = 0.0
+    bay_z_max = args.room_height
+    center_spacing = width + gap
+
+    def group_offsets(span, side):
+        usable_min = -span / 2.0 + edge_margin
+        usable_max = span / 2.0 - edge_margin
+        usable_width = max(0.0, usable_max - usable_min)
+        effective_bay_width = min(bay_width, usable_width) if usable_width > 0.0 else bay_width
+        if usable_width <= effective_bay_width:
+            axis_min = usable_min
+            axis_max = usable_max
+        elif side == "max":
+            axis_max = usable_max
+            axis_min = axis_max - effective_bay_width
+        else:
+            axis_min = usable_min
+            axis_max = axis_min + effective_bay_width
+        group_center = (axis_min + axis_max) / 2.0
+        vertical_offset = group_center - center_spacing / 2.0
+        slope_offset = group_center + center_spacing / 2.0
+        return vertical_offset, slope_offset, axis_min, axis_max
+
+    front_vertical, front_slope, front_min, front_max = group_offsets(args.room_width, "min")
+    _, _, right_min, right_max = group_offsets(args.room_length, "max")
+    right_vertical = (right_min + right_max) / 2.0
+
+    slots = {
+        "front": {
+            "vertical_offset": front_vertical,
+            "slope_offset": front_slope,
+            "reserved_axis_min": front_min,
+            "reserved_axis_max": front_max,
+            "reserved_z_min": bay_z_min,
+            "reserved_z_max": bay_z_max,
+        },
+        "right": {
+            "vertical_offset": right_vertical,
+            "reserved_axis_min": right_min,
+            "reserved_axis_max": right_max,
+            "reserved_z_min": bay_z_min,
+            "reserved_z_max": bay_z_max,
+        },
+    }
+    return slots
+
+
+def lidar_2d_checkerboard_reserved_zones(args):
+    slots = lidar_2d_target_wall_slots(args)
+    reserved_zones = {}
+    for wall, slot in slots.items():
+        reserved_zones[wall] = [{
+            "axis_min": slot["reserved_axis_min"],
+            "axis_max": slot["reserved_axis_max"],
+            "z_min": slot["reserved_z_min"],
+            "z_max": slot["reserved_z_max"],
+            "reason": "2d_lidar_extrinsic_corner_bay",
+        }]
+    return reserved_zones
+
+
+def calibration_board_layout(args, board_width, board_height):
+    wall_standoff = 0.015
+    front_x = args.room_length / 2.0 - wall_standoff
+    back_x = -args.room_length / 2.0 + wall_standoff
+    left_y = args.room_width / 2.0 - wall_standoff
+    right_y = -args.room_width / 2.0 + wall_standoff
+    horizontal_gap = 0.18
+    vertical_gap = 0.16
+    side_margin = 0.35
+    bottom_margin = 0.32
+    top_margin = 0.28
+
+    def axis_positions(span, item_size, margin, gap):
+        available = span - 2.0 * margin
+        count = max(1, int((available + gap) // (item_size + gap)))
+        if count == 1:
+            return [0.0]
+        used = count * item_size + (count - 1) * gap
+        start = -used / 2.0 + item_size / 2.0
+        return [start + index * (item_size + gap) for index in range(count)]
+
+    def z_positions():
+        available = args.room_height - bottom_margin - top_margin
+        count = max(1, int((available + vertical_gap) // (board_height + vertical_gap)))
+        if count == 1:
+            return [bottom_margin + board_height / 2.0]
+        used = count * board_height + (count - 1) * vertical_gap
+        start = bottom_margin + board_height / 2.0 + max(0.0, available - used) / 2.0
+        return [start + index * (board_height + vertical_gap) for index in range(count)]
+
+    zs = z_positions()
+    front_back_offsets = axis_positions(args.room_width, board_width, side_margin, horizontal_gap)
+    side_offsets = axis_positions(args.room_length, board_width, side_margin, horizontal_gap)
+    reserved_zones = lidar_2d_checkerboard_reserved_zones(args)
+
+    board_specs = []
+
+    def overlaps_reserved_zone(wall, offset, z):
+        board_axis_min = offset - board_width / 2.0
+        board_axis_max = offset + board_width / 2.0
+        board_z_min = z - board_height / 2.0
+        board_z_max = z + board_height / 2.0
+        for zone in reserved_zones.get(wall, []):
+            axis_overlaps = board_axis_min < zone["axis_max"] and board_axis_max > zone["axis_min"]
+            z_overlaps = board_z_min < zone["z_max"] and board_z_max > zone["z_min"]
+            if axis_overlaps and z_overlaps:
+                return True
+        return False
+
+    def add_wall_grid(wall, fixed_value, offsets, rotation_deg):
+        for row, z in enumerate(zs):
+            for col, offset in enumerate(offsets):
+                if overlaps_reserved_zone(wall, offset, z):
+                    continue
+                if wall == "front":
+                    position = [fixed_value, offset, z]
+                elif wall == "back":
+                    position = [fixed_value, offset, z]
+                elif wall == "left":
+                    position = [offset, fixed_value, z]
+                else:
+                    position = [offset, fixed_value, z]
+
+                board_specs.append({
+                    "id": f"{wall}_wall_r{row:02d}_c{col:02d}",
+                    "wall": wall,
+                    "mount": "flush",
+                    "purpose": "wall_checkerboard_array",
+                    "position": position,
+                    "rotation_deg": rotation_deg,
+                })
+
+    add_wall_grid("front", front_x, front_back_offsets, [90, 0, 90])
+    add_wall_grid("back", back_x, front_back_offsets, [90, 0, -90])
+    add_wall_grid("left", left_y, side_offsets, [90, 0, 0])
+    add_wall_grid("right", right_y, side_offsets, [90, 0, 180])
+
+    return board_specs
+
+
+def add_calibration_boards(stage, args, board_width, board_height, material):
+    board_specs = calibration_board_layout(args, board_width, board_height)
+    for spec in board_specs:
+        create_textured_board(
+            stage,
+            f"/World/Workshop/CalibrationBoards/{spec['id']}",
+            board_width,
+            board_height,
+            spec["position"],
+            spec["rotation_deg"],
+            material,
+        )
+    return board_specs
+
+
+def add_lidar_2d_panel(world, prim_path, name, position, scale, color, rotation_deg=None):
+    orientation = None
+    if rotation_deg is not None:
+        orientation = np.array(euler_angles_to_quat(np.array(rotation_deg), degrees=True))
+    world.scene.add(FixedCuboid(
+        prim_path=prim_path,
+        name=name,
+        position=np.array(position),
+        orientation=orientation,
+        scale=np.array(scale),
+        color=np.array(color),
+    ))
+
+
+def add_2d_lidar_calibration_targets(world, args):
+    thickness = args.lidar_2d_target_thickness
+    width = args.lidar_2d_target_width
+    height = args.lidar_2d_target_height
+    bottom_z = args.lidar_2d_target_bottom_z
+    center_z = bottom_z + height / 2.0
+    angle_deg = args.lidar_2d_target_slope_angle_deg
+    angle_rad = math.radians(angle_deg)
+    sloped_length = height / max(math.cos(angle_rad), 1e-3)
+    standoff = 0.06
+    slots = lidar_2d_target_wall_slots(args)
+
+    front_wall_x = args.room_length / 2.0
+    right_wall_y = -args.room_width / 2.0
+
+    front_base_x = front_wall_x - standoff - thickness / 2.0
+    side_right_base_y = right_wall_y + standoff + thickness / 2.0
+
+    front_slope_center_x = front_wall_x - standoff - height / 2.0 - thickness
+
+    front_vertical_y = slots["front"]["vertical_offset"]
+    front_slope_y = slots["front"]["slope_offset"]
+    right_vertical_x = slots["right"]["vertical_offset"]
+
+    vertical_color = [0.92, 0.82, 0.18]
+    slope_color = [0.12, 0.65, 0.95]
+    specs = []
+
+    def add_spec(spec):
+        specs.append(spec)
+        return spec
+
+    front_vertical = add_spec({
+        "id": "front_vertical_reference_panel",
+        "wall": "front",
+        "type": "vertical_reference",
+        "position": [front_base_x, front_vertical_y, center_z],
+        "scale": [thickness, width, height],
+        "rotation_deg": [0.0, 0.0, 0.0],
+        "nominal_plane": "x = room_length/2 - standoff - thickness",
+    })
+    add_lidar_2d_panel(
+        world,
+        "/World/Workshop/Lidar2DCalibrationTargets/FrontVerticalReference",
+        "front_vertical_reference_panel",
+        front_vertical["position"],
+        front_vertical["scale"],
+        vertical_color,
+    )
+
+    front_slope = add_spec({
+        "id": "front_45deg_height_encoding_panel",
+        "wall": "front",
+        "type": "height_encoding_slope",
+        "position": [front_slope_center_x, front_slope_y, center_z],
+        "scale": [thickness, width, sloped_length],
+        "rotation_deg": [0.0, -angle_deg, 0.0],
+        "slope_angle_deg": angle_deg,
+        "height_to_range_sign": "higher_scan_plane_farther_from_front_wall",
+    })
+    add_lidar_2d_panel(
+        world,
+        "/World/Workshop/Lidar2DCalibrationTargets/FrontSlope45",
+        "front_45deg_height_encoding_panel",
+        front_slope["position"],
+        front_slope["scale"],
+        slope_color,
+        front_slope["rotation_deg"],
+    )
+
+    right_vertical = add_spec({
+        "id": "right_vertical_reference_panel",
+        "wall": "right",
+        "type": "vertical_reference",
+        "position": [right_vertical_x, side_right_base_y, center_z],
+        "scale": [width, thickness, height],
+        "rotation_deg": [0.0, 0.0, 0.0],
+        "nominal_plane": "y = -room_width/2 + standoff + thickness",
+    })
+    add_lidar_2d_panel(
+        world,
+        "/World/Workshop/Lidar2DCalibrationTargets/RightVerticalReference",
+        "right_vertical_reference_panel",
+        right_vertical["position"],
+        right_vertical["scale"],
+        vertical_color,
+    )
+
+    return specs
+
+
+def add_floor_marker(world, prim_path, name, position, scale, color):
+    world.scene.add(FixedCuboid(
+        prim_path=prim_path,
+        name=name,
+        position=np.array(position),
+        scale=np.array(scale),
+        color=np.array(color),
+    ))
+
+
+def add_calibration_floor_fixtures(world, args):
+    z = 0.012
+    thickness = 0.012
+    length = args.straight_track_length
+    width = args.straight_track_width
+
+    add_floor_marker(
+        world,
+        "/World/Workshop/CalibrationFixtures/StraightTrack",
+        "straight_track",
+        [0.0, 0.0, z],
+        [length, width, thickness],
+        [0.08, 0.12, 0.10],
+    )
+    add_floor_marker(
+        world,
+        "/World/Workshop/CalibrationFixtures/StraightCenterLine",
+        "straight_center_line",
+        [0.0, 0.0, z + thickness],
+        [length, 0.035, thickness],
+        [0.95, 0.95, 0.15],
+    )
+    for side, y in (("Left", width / 2.0), ("Right", -width / 2.0)):
+        add_floor_marker(
+            world,
+            f"/World/Workshop/CalibrationFixtures/StraightBoundary{side}",
+            f"straight_boundary_{side.lower()}",
+            [0.0, y, z + thickness],
+            [length, 0.025, thickness],
+            [0.95, 0.78, 0.08],
+        )
+
+    stop_x = min(length / 2.0 - 0.35, args.room_length / 2.0 - 1.0)
+    add_floor_marker(
+        world,
+        "/World/Workshop/CalibrationFixtures/StopAccuracyTarget",
+        "stop_accuracy_target",
+        [stop_x, 0.0, z + 2.0 * thickness],
+        [0.6, 0.9, thickness],
+        [0.88, 0.10, 0.10],
+    )
+
+    lateral_x = -min(length / 2.0 - 0.8, args.room_length / 2.0 - 1.2)
+    add_floor_marker(
+        world,
+        "/World/Workshop/CalibrationFixtures/LateralMotionPad",
+        "lateral_motion_pad",
+        [lateral_x, 0.0, z + thickness],
+        [0.75, 2.0, thickness],
+        [0.10, 0.34, 0.88],
+    )
+
+    arc_center = np.array([0.0, -args.room_width * 0.20])
+    arc_radius = min(args.arc_track_radius, args.room_width * 0.32)
+    marker_count = 25
+    for index in range(marker_count):
+        theta = math.radians(20.0 + 140.0 * index / (marker_count - 1))
+        x = arc_center[0] + arc_radius * math.cos(theta)
+        y = arc_center[1] + arc_radius * math.sin(theta)
+        add_floor_marker(
+            world,
+            f"/World/Workshop/CalibrationFixtures/ArcMarker_{index:02d}",
+            f"arc_marker_{index:02d}",
+            [x, y, z + 3.0 * thickness],
+            [0.10, 0.10, thickness],
+            [0.12, 0.75, 0.35],
+        )
+
+    add_floor_marker(
+        world,
+        "/World/Workshop/CalibrationFixtures/SensorCapturePad",
+        "sensor_capture_pad",
+        [0.0, args.room_width * 0.28, z + thickness],
+        [1.2, 0.9, thickness],
+        [0.42, 0.18, 0.78],
+    )
+
+
+class ExternalTruthTelemetryPublisher:
+    def __init__(self, args):
+        self.enabled = not args.disable_external_telemetry
+        self.topic = args.external_telemetry_topic
+        self.publish_period_sec = 0.0 if args.external_publish_hz <= 0.0 else 1.0 / args.external_publish_hz
+        self.reference_source_name = args.external_reference_source_name
+        self.workcell_zone_id = args.external_workcell_zone_id
+        self.position_noise_stddev_m = max(0.0, args.external_position_noise_stddev_m)
+        self.yaw_noise_stddev_rad = max(0.0, args.external_yaw_noise_stddev_rad)
+        self.position_stddev_m = max(0.0, args.external_position_stddev_m)
+        self.yaw_stddev_rad = max(0.0, args.external_yaw_stddev_rad)
+        self.tracking_loss_ratio = clamp(args.external_tracking_loss_ratio, 0.0, 1.0)
+        self.time_sync_offset_ms = abs(args.external_time_sync_offset_ms)
+        self.quality_score = clamp(args.external_quality_score, 0.0, 1.0)
+        self.observed_target_count = max(0, args.external_observed_target_count)
+        self.pose_drop_rate = clamp(args.external_pose_drop_rate, 0.0, 1.0)
+        self.last_publish_wall_time = 0.0
+        self.rng = np.random.default_rng(args.random_seed)
+        self.node = None
+        self.publisher = None
+
+        if not self.enabled:
+            print("[*] 已禁用 external 仿真遥测发布。")
+            return
+
+        if rclpy is None or ExternalLocalizationTelemetry is None:
+            print("[WARN] 未找到 rclpy 或 calibration_external_localization_interfaces，external 遥测发布已禁用。")
+            self.enabled = False
+            return
+
+        if not rclpy.ok():
+            rclpy.init(args=None)
+
+        self.node = rclpy.create_node("isaac_external_truth_publisher")
+        self.publisher = self.node.create_publisher(ExternalLocalizationTelemetry, self.topic, 10)
+        print(f"[*] external 仿真遥测发布已启用: topic={self.topic}, source={self.reference_source_name}, zone={self.workcell_zone_id}")
+
+    def publish(self, agv):
+        if not self.enabled or self.publisher is None:
+            return
+
+        now = time.time()
+        if self.publish_period_sec > 0.0 and (now - self.last_publish_wall_time) < self.publish_period_sec:
+            return
+
+        position, quat = agv.get_world_pose()
+        yaw_rad = quat_wxyz_to_yaw(quat)
+        pose_valid = self.rng.random() >= self.pose_drop_rate
+
+        msg = ExternalLocalizationTelemetry()
+        msg.hardware_timestamp_us = time.time_ns() // 1000
+        msg.pose_valid = pose_valid
+        msg.workshop_pose.x_m = float(position[0] + self.rng.normal(0.0, self.position_noise_stddev_m))
+        msg.workshop_pose.y_m = float(position[1] + self.rng.normal(0.0, self.position_noise_stddev_m))
+        msg.workshop_pose.z_m = float(position[2])
+        msg.workshop_pose.roll_rad = 0.0
+        msg.workshop_pose.pitch_rad = 0.0
+        msg.workshop_pose.yaw_rad = float(yaw_rad + self.rng.normal(0.0, self.yaw_noise_stddev_rad))
+        msg.position_stddev_m = self.position_stddev_m
+        msg.yaw_stddev_rad = self.yaw_stddev_rad
+        msg.tracking_loss_ratio = self.tracking_loss_ratio if pose_valid else max(self.tracking_loss_ratio, 1.0)
+        msg.time_sync_offset_ms = self.time_sync_offset_ms
+        msg.quality_score = self.quality_score if pose_valid else 0.0
+        msg.observed_target_count = self.observed_target_count if pose_valid else 0
+        msg.reference_source_name = self.reference_source_name
+        msg.active_job_id = f"{self.workcell_zone_id}:isaac_external_truth"
+
+        self.publisher.publish(msg)
+        self.last_publish_wall_time = now
+
+    def shutdown(self):
+        if self.node is not None:
+            self.node.destroy_node()
+            self.node = None
+
+
+class VehicleImuTopicPublisher:
+    def __init__(self, args):
+        self.enabled = not args.disable_vehicle_imu
+        self.topic = args.vehicle_imu_topic
+        self.publish_period_sec = 0.0 if args.chassis_telemetry_hz <= 0.0 else 1.0 / args.chassis_telemetry_hz
+        self.last_publish_wall_time = 0.0
+        self.last_sample_wall_time = None
+        self.last_linear_velocity = None
+        self.node = None
+        self.publisher = None
+
+        if not self.enabled:
+            print("[*] 已禁用车载 IMU 话题发布。")
+            return
+
+        if rclpy is None or Imu is None:
+            print("[WARN] 未找到 rclpy 或 sensor_msgs，车载 IMU 话题发布已禁用。")
+            self.enabled = False
+            return
+
+        if not rclpy.ok():
+            rclpy.init(args=None)
+
+        self.node = rclpy.create_node("isaac_vehicle_imu_topic_publisher")
+        self.publisher = self.node.create_publisher(Imu, self.topic, 10)
+        print(f"[*] 车载 IMU 话题发布已启用: topic={self.topic}")
+
+    @staticmethod
+    def _stamp_now(msg):
+        now_ns = time.time_ns()
+        msg.header.stamp.sec = int(now_ns // 1_000_000_000)
+        msg.header.stamp.nanosec = int(now_ns % 1_000_000_000)
+
+    def publish(self, agv):
+        if not self.enabled or self.publisher is None or agv is None:
+            return
+
+        now = time.time()
+        if self.publish_period_sec > 0.0 and (now - self.last_publish_wall_time) < self.publish_period_sec:
+            return
+
+        _position, quat = agv.get_world_pose()
+        yaw_rad = quat_wxyz_to_yaw(quat)
+        linear_velocity = np.array(agv.get_linear_velocity(), dtype=float)
+        try:
+            angular_velocity = np.array(agv.get_angular_velocity(), dtype=float)
+        except Exception:
+            angular_velocity = np.array([0.0, 0.0, 0.0], dtype=float)
+
+        if self.last_linear_velocity is None or self.last_sample_wall_time is None:
+            world_accel = np.array([0.0, 0.0, 0.0], dtype=float)
+        else:
+            dt = max(now - self.last_sample_wall_time, 1e-3)
+            world_accel = (linear_velocity - self.last_linear_velocity) / dt
+
+        cos_yaw = math.cos(yaw_rad)
+        sin_yaw = math.sin(yaw_rad)
+        body_accel_x = cos_yaw * world_accel[0] + sin_yaw * world_accel[1]
+        body_accel_y = -sin_yaw * world_accel[0] + cos_yaw * world_accel[1]
+        body_ang_x = cos_yaw * angular_velocity[0] + sin_yaw * angular_velocity[1]
+        body_ang_y = -sin_yaw * angular_velocity[0] + cos_yaw * angular_velocity[1]
+
+        msg = Imu()
+        self._stamp_now(msg)
+        msg.header.frame_id = "imu_link"
+        msg.orientation.w = float(quat[0])
+        msg.orientation.x = float(quat[1])
+        msg.orientation.y = float(quat[2])
+        msg.orientation.z = float(quat[3])
+        msg.angular_velocity.x = float(body_ang_x)
+        msg.angular_velocity.y = float(body_ang_y)
+        msg.angular_velocity.z = float(angular_velocity[2])
+        msg.linear_acceleration.x = float(body_accel_x)
+        msg.linear_acceleration.y = float(body_accel_y)
+        msg.linear_acceleration.z = float(world_accel[2] + 9.80665)
+        msg.orientation_covariance = [0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001]
+        msg.angular_velocity_covariance = [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
+        msg.linear_acceleration_covariance = [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
+
+        self.publisher.publish(msg)
+        self.last_publish_wall_time = now
+        self.last_sample_wall_time = now
+        self.last_linear_velocity = linear_velocity
+
+    def shutdown(self):
+        if self.node is not None:
+            self.node.destroy_node()
+            self.node = None
+
+
+class VehicleLaserScanTopicPublisher:
+    def __init__(self, args, target_specs):
+        self.enabled = not args.disable_vehicle_2d_lidar
+        self.args = args
+        self.target_specs = list(target_specs or [])
+        self.topic = args.vehicle_2d_lidar_topic
+        self.publish_period_sec = 0.0 if args.chassis_telemetry_hz <= 0.0 else 1.0 / args.chassis_telemetry_hz
+        self.angle_min = -math.pi
+        self.angle_max = math.pi
+        self.angle_increment = math.radians(1.0)
+        self.range_min = 0.05
+        self.range_max = max(12.0, math.hypot(args.room_length, args.room_width))
+        self.last_publish_wall_time = 0.0
+        self.node = None
+        self.publisher = None
+
+        if not self.enabled:
+            print("[*] 已禁用车载 2D LiDAR LaserScan 发布。")
+            return
+
+        if rclpy is None or LaserScan is None:
+            print("[WARN] 未找到 rclpy 或 sensor_msgs，车载 2D LiDAR LaserScan 发布已禁用。")
+            self.enabled = False
+            return
+
+        if not rclpy.ok():
+            rclpy.init(args=None)
+
+        self.node = rclpy.create_node("isaac_vehicle_lidar_2d_scan_publisher")
+        self.publisher = self.node.create_publisher(LaserScan, self.topic, 10)
+        print(f"[*] 车载 2D LiDAR LaserScan 发布已启用: topic={self.topic}")
+
+    @staticmethod
+    def _stamp_now(msg):
+        now_ns = time.time_ns()
+        msg.header.stamp.sec = int(now_ns // 1_000_000_000)
+        msg.header.stamp.nanosec = int(now_ns % 1_000_000_000)
+
+    @staticmethod
+    def _axis_hit(origin, direction, fixed_axis, fixed_value, range_axis, range_min, range_max):
+        denom = direction[fixed_axis]
+        if abs(denom) < 1e-9:
+            return None
+        t = (fixed_value - origin[fixed_axis]) / denom
+        if t <= 0.0:
+            return None
+        crossed = origin[range_axis] + t * direction[range_axis]
+        if range_min <= crossed <= range_max:
+            return t
+        return None
+
+    def _target_segments_at_scan_height(self, scan_z):
+        segments = []
+        for spec in self.target_specs:
+            position = spec.get("position", [0.0, 0.0, 0.0])
+            scale = spec.get("scale", [0.0, 0.0, 0.0])
+            if spec.get("wall") == "front":
+                x = float(position[0])
+                if spec.get("type") == "height_encoding_slope":
+                    angle_rad = math.radians(float(spec.get("slope_angle_deg", self.args.lidar_2d_target_slope_angle_deg)))
+                    x -= (float(scan_z) - float(position[2])) * math.tan(angle_rad)
+                y_min = float(position[1]) - float(scale[1]) / 2.0
+                y_max = float(position[1]) + float(scale[1]) / 2.0
+                segments.append(("x", x, y_min, y_max))
+            elif spec.get("wall") == "right":
+                y = float(position[1])
+                x_min = float(position[0]) - float(scale[0]) / 2.0
+                x_max = float(position[0]) + float(scale[0]) / 2.0
+                segments.append(("y", y, x_min, x_max))
+        return segments
+
+    def _raycast(self, origin_xy, beam_yaw, scan_z):
+        direction = np.array([math.cos(beam_yaw), math.sin(beam_yaw)], dtype=float)
+        half_length = self.args.room_length / 2.0
+        half_width = self.args.room_width / 2.0
+        best_range = self.range_max
+        best_intensity = 5.0
+
+        wall_hits = [
+            self._axis_hit(origin_xy, direction, 0, half_length, 1, -half_width, half_width),
+            self._axis_hit(origin_xy, direction, 0, -half_length, 1, -half_width, half_width),
+            self._axis_hit(origin_xy, direction, 1, half_width, 0, -half_length, half_length),
+            self._axis_hit(origin_xy, direction, 1, -half_width, 0, -half_length, half_length),
+        ]
+        for hit_range in wall_hits:
+            if hit_range is not None and self.range_min <= hit_range < best_range:
+                best_range = hit_range
+                best_intensity = 10.0
+
+        for axis, value, seg_min, seg_max in self._target_segments_at_scan_height(scan_z):
+            if axis == "x":
+                hit_range = self._axis_hit(origin_xy, direction, 0, value, 1, seg_min, seg_max)
+            else:
+                hit_range = self._axis_hit(origin_xy, direction, 1, value, 0, seg_min, seg_max)
+            if hit_range is not None and self.range_min <= hit_range < best_range:
+                best_range = hit_range
+                best_intensity = 80.0
+
+        return float(best_range), float(best_intensity)
+
+    def publish(self, agv):
+        if not self.enabled or self.publisher is None or agv is None:
+            return
+
+        now = time.time()
+        if self.publish_period_sec > 0.0 and (now - self.last_publish_wall_time) < self.publish_period_sec:
+            return
+
+        position, quat = agv.get_world_pose()
+        yaw_rad = quat_wxyz_to_yaw(quat)
+        cos_yaw = math.cos(yaw_rad)
+        sin_yaw = math.sin(yaw_rad)
+        lidar_local_x = self.args.vehicle_2d_lidar_x
+        lidar_local_y = self.args.vehicle_2d_lidar_y
+        origin_xy = np.array([
+            float(position[0]) + cos_yaw * lidar_local_x - sin_yaw * lidar_local_y,
+            float(position[1]) + sin_yaw * lidar_local_x + cos_yaw * lidar_local_y,
+        ])
+        scan_z = float(position[2]) + self.args.vehicle_2d_lidar_z
+
+        beam_count = int(round((self.angle_max - self.angle_min) / self.angle_increment)) + 1
+        ranges = []
+        intensities = []
+        for index in range(beam_count):
+            angle = self.angle_min + index * self.angle_increment
+            hit_range, intensity = self._raycast(origin_xy, yaw_rad + angle, scan_z)
+            ranges.append(hit_range)
+            intensities.append(intensity)
+
+        msg = LaserScan()
+        self._stamp_now(msg)
+        msg.header.frame_id = "lidar_2d_link"
+        msg.angle_min = float(self.angle_min)
+        msg.angle_max = float(self.angle_max)
+        msg.angle_increment = float(self.angle_increment)
+        msg.time_increment = 0.0
+        msg.scan_time = float(self.publish_period_sec if self.publish_period_sec > 0.0 else 0.05)
+        msg.range_min = float(self.range_min)
+        msg.range_max = float(self.range_max)
+        msg.ranges = ranges
+        msg.intensities = intensities
+
+        self.publisher.publish(msg)
+        self.last_publish_wall_time = now
+
+    def shutdown(self):
+        if self.node is not None:
+            self.node.destroy_node()
+            self.node = None
+
+
+class ChassisCalibrationTelemetryPublisher:
+    def __init__(self, args):
+        self.enabled = not args.disable_chassis_telemetry
+        self.topic = args.chassis_telemetry_topic
+        self.publish_period_sec = 0.0 if args.chassis_telemetry_hz <= 0.0 else 1.0 / args.chassis_telemetry_hz
+        self.chassis_type = args.chassis_type
+        self.wheel_radius = args.wheel_radius
+        self.wheel_track = args.wheel_track
+        self.wheel_base = args.wheel_base
+        self.odom_noise_stddev_m = args.odom_noise_stddev_m
+        self.yaw_noise_stddev_rad = args.yaw_noise_stddev_rad
+        self.rng = np.random.default_rng(args.random_seed + 17)
+        self.last_publish_wall_time = 0.0
+        self.encoder_ticks = {}
+        self.node = None
+        self.publisher = None
+
+        if not self.enabled:
+            print("[*] 已禁用底盘标定遥测发布。")
+            return
+
+        if rclpy is None or ChassisTelemetry is None or WheelModuleState is None or ChassisType is None:
+            print("[WARN] 未找到底盘标定 ROS 消息，底盘遥测发布已禁用。")
+            self.enabled = False
+            return
+
+        if not rclpy.ok():
+            rclpy.init(args=None)
+
+        self.node = rclpy.create_node("isaac_chassis_calibration_telemetry_publisher")
+        self.publisher = self.node.create_publisher(ChassisTelemetry, self.topic, 10)
+        print(f"[*] 底盘标定遥测发布已启用: topic={self.topic}, chassis_type={self.chassis_type}")
+
+    def make_module_state(self, module_id, wheel_speed_rpm, steer_angle_deg, dt):
+        ticks_per_rev = 2048.0
+        previous_ticks = self.encoder_ticks.get(module_id, 0.0)
+        next_ticks = previous_ticks + wheel_speed_rpm / 60.0 * ticks_per_rev * max(dt, 0.0)
+        self.encoder_ticks[module_id] = next_ticks
+
+        module = WheelModuleState()
+        module.module_id = module_id
+        module.encoder_ticks = int(next_ticks)
+        module.wheel_speed_rpm = float(wheel_speed_rpm)
+        module.steer_angle_deg = float(steer_angle_deg)
+        module.motor_current_amp = float(0.8 + 0.15 * abs(wheel_speed_rpm) / 100.0)
+        return module
+
+    def build_modules(self, forward_velocity, angular_velocity, dt):
+        wheel_circumference = 2.0 * math.pi * self.wheel_radius
+        if self.chassis_type == "differential":
+            left_speed = forward_velocity - angular_velocity * self.wheel_track / 2.0
+            right_speed = forward_velocity + angular_velocity * self.wheel_track / 2.0
+            return [
+                self.make_module_state("left_drive", left_speed / wheel_circumference * 60.0, 0.0, dt),
+                self.make_module_state("right_drive", right_speed / wheel_circumference * 60.0, 0.0, dt),
+            ]
+
+        if self.chassis_type == "ackermann":
+            steer_rad = 0.0
+            if abs(forward_velocity) > 0.02:
+                steer_rad = math.atan(self.wheel_base * angular_velocity / forward_velocity)
+            wheel_speed_rpm = forward_velocity / wheel_circumference * 60.0
+            steer_deg = math.degrees(steer_rad)
+            return [
+                self.make_module_state("front_left", wheel_speed_rpm, steer_deg, dt),
+                self.make_module_state("front_right", wheel_speed_rpm, steer_deg, dt),
+                self.make_module_state("rear_left", wheel_speed_rpm, 0.0, dt),
+                self.make_module_state("rear_right", wheel_speed_rpm, 0.0, dt),
+            ]
+
+        wheel_speed_rpm = forward_velocity / wheel_circumference * 60.0
+        steer_angle = math.degrees(math.atan2(angular_velocity * self.wheel_track, max(abs(forward_velocity), 0.05)))
+        module_ids = ["front_left", "front_right", "rear_left", "rear_right"]
+        return [self.make_module_state(module_id, wheel_speed_rpm, steer_angle, dt) for module_id in module_ids]
+
+    def publish(self, agv):
+        if not self.enabled or self.publisher is None:
+            return
+
+        now = time.time()
+        if self.publish_period_sec > 0.0 and (now - self.last_publish_wall_time) < self.publish_period_sec:
+            return
+
+        dt = self.publish_period_sec if self.last_publish_wall_time == 0.0 else now - self.last_publish_wall_time
+        position, yaw_rad, linear_velocity, angular_velocity = vehicle_state_from_isaac(agv)
+        forward_axis = np.array([math.cos(yaw_rad), math.sin(yaw_rad)])
+        lateral_axis = np.array([-math.sin(yaw_rad), math.cos(yaw_rad)])
+        planar_velocity = np.array([linear_velocity[0], linear_velocity[1]])
+        forward_velocity = float(np.dot(planar_velocity, forward_axis))
+        lateral_velocity = float(np.dot(planar_velocity, lateral_axis))
+        yaw_rate = float(angular_velocity[2])
+
+        msg = ChassisTelemetry()
+        msg.hardware_timestamp_us = time.time_ns() // 1000
+        msg.chassis_type.value = chassis_type_value(self.chassis_type)
+        msg.odom_x_m = float(position[0] + self.rng.normal(0.0, self.odom_noise_stddev_m))
+        msg.odom_y_m = float(position[1] + self.rng.normal(0.0, self.odom_noise_stddev_m))
+        msg.odom_yaw_rad = float(normalize_angle(yaw_rad + self.rng.normal(0.0, self.yaw_noise_stddev_rad)))
+        msg.linear_velocity_ms = forward_velocity
+        msg.angular_velocity_rads = yaw_rate
+        msg.modules = self.build_modules(forward_velocity, yaw_rate, dt)
+        msg.estop_engaged = False
+        msg.driver_error_code = 0
+        msg.active_job_id = "isaac_chassis_calibration"
+        msg.lateral_slip_estimate = lateral_velocity
+        msg.curvature_estimate = yaw_rate / forward_velocity if abs(forward_velocity) > 0.02 else 0.0
+
+        self.publisher.publish(msg)
+        self.last_publish_wall_time = now
+
+    def shutdown(self):
+        if self.node is not None:
+            self.node.destroy_node()
+            self.node = None
+
+
+class ControlCalibrationTelemetryPublisher:
+    def __init__(self, args):
+        self.enabled = not args.disable_control_telemetry
+        self.topic = args.control_telemetry_topic
+        self.publish_period_sec = 0.0 if args.control_telemetry_hz <= 0.0 else 1.0 / args.control_telemetry_hz
+        self.reference_speed_ms = args.control_reference_speed_ms
+        self.reference_y_m = args.control_reference_y_m
+        self.parameter_version = args.control_parameter_version
+        self.last_publish_wall_time = 0.0
+        self.node = None
+        self.publisher = None
+
+        if not self.enabled:
+            print("[*] 已禁用运控评估遥测发布。")
+            return
+
+        if rclpy is None or ControlTelemetry is None or ControllerAlgorithmType is None:
+            print("[WARN] 未找到运控标定 ROS 消息，运控遥测发布已禁用。")
+            self.enabled = False
+            return
+
+        if not rclpy.ok():
+            rclpy.init(args=None)
+
+        self.node = rclpy.create_node("isaac_control_calibration_telemetry_publisher")
+        self.publisher = self.node.create_publisher(ControlTelemetry, self.topic, 10)
+        print(f"[*] 运控评估遥测发布已启用: topic={self.topic}, parameter_version={self.parameter_version}")
+
+    def publish(self, agv):
+        if not self.enabled or self.publisher is None:
+            return
+
+        now = time.time()
+        if self.publish_period_sec > 0.0 and (now - self.last_publish_wall_time) < self.publish_period_sec:
+            return
+
+        position, yaw_rad, linear_velocity, angular_velocity = vehicle_state_from_isaac(agv)
+        forward_axis = np.array([math.cos(yaw_rad), math.sin(yaw_rad)])
+        forward_velocity = float(np.dot(np.array([linear_velocity[0], linear_velocity[1]]), forward_axis))
+        lateral_error = float(position[1] - self.reference_y_m)
+        heading_error = normalize_angle(yaw_rad)
+        speed_error = forward_velocity - self.reference_speed_ms
+        steering_output = clamp(-0.8 * lateral_error - 1.2 * heading_error, -1.0, 1.0)
+        throttle_output = clamp(-2.0 * speed_error, 0.0, 1.0)
+        brake_output = clamp(2.0 * speed_error, 0.0, 1.0)
+
+        msg = ControlTelemetry()
+        msg.hardware_timestamp_us = time.time_ns() // 1000
+        msg.odom_x_m = float(position[0])
+        msg.odom_y_m = float(position[1])
+        msg.odom_yaw_rad = float(yaw_rad)
+        msg.linear_velocity_ms = forward_velocity
+        msg.angular_velocity_rads = float(angular_velocity[2])
+        msg.lateral_error_m = lateral_error
+        msg.heading_error_rad = heading_error
+        msg.speed_error_ms = speed_error
+        msg.steering_output = steering_output
+        msg.throttle_output = throttle_output
+        msg.brake_output = brake_output
+        msg.saturation_flag = abs(steering_output) > 0.98 or throttle_output > 0.98 or brake_output > 0.98
+        msg.active_job_id = "isaac_control_calibration"
+        msg.parameter_version = self.parameter_version
+        msg.active_lateral_algorithm.value = controller_algorithm_value("pure_pursuit")
+        msg.active_longitudinal_algorithm.value = controller_algorithm_value("pid")
+
+        self.publisher.publish(msg)
+        self.last_publish_wall_time = now
+
+    def shutdown(self):
+        if self.node is not None:
+            self.node.destroy_node()
+            self.node = None
+
+
+class SensorCalibrationTelemetryPublisher:
+    def __init__(self, args):
+        self.enabled = not args.disable_sensor_telemetry
+        self.topic = args.sensor_telemetry_topic
+        self.publish_period_sec = 0.0 if args.sensor_telemetry_hz <= 0.0 else 1.0 / args.sensor_telemetry_hz
+        self.sensor_id = args.front_camera_sensor_id
+        self.target_sample_count = max(0, args.sensor_target_sample_count)
+        self.quality_score = clamp(args.sensor_quality_score, 0.0, 1.0)
+        self.target_detected = not args.sensor_target_missing
+        self.last_publish_wall_time = 0.0
+        self.collected_sample_count = 0
+        self.node = None
+        self.publisher = None
+
+        if not self.enabled:
+            print("[*] 已禁用传感器标定遥测发布。")
+            return
+
+        if rclpy is None or SensorCalibrationTelemetry is None or CaptureIntentType is None or SensorType is None:
+            print("[WARN] 未找到传感器标定 ROS 消息，传感器遥测发布已禁用。")
+            self.enabled = False
+            return
+
+        if not rclpy.ok():
+            rclpy.init(args=None)
+
+        self.node = rclpy.create_node("isaac_sensor_calibration_telemetry_publisher")
+        self.publisher = self.node.create_publisher(SensorCalibrationTelemetry, self.topic, 10)
+        print(f"[*] 传感器标定遥测发布已启用: topic={self.topic}, sensor_id={self.sensor_id}")
+
+    def publish(self):
+        if not self.enabled or self.publisher is None:
+            return
+
+        now = time.time()
+        if self.publish_period_sec > 0.0 and (now - self.last_publish_wall_time) < self.publish_period_sec:
+            return
+
+        if self.target_detected:
+            self.collected_sample_count += 1
+
+        msg = SensorCalibrationTelemetry()
+        msg.hardware_timestamp_us = time.time_ns() // 1000
+        msg.sensor_id = self.sensor_id
+        msg.sensor_type.value = SensorType.FRONT_CAMERA
+        msg.collected_sample_count = (
+            min(self.collected_sample_count, self.target_sample_count)
+            if self.target_sample_count > 0
+            else self.collected_sample_count
+        )
+        msg.target_sample_count = self.target_sample_count
+        msg.target_detected = self.target_detected
+        msg.quality_score = self.quality_score if self.target_detected else 0.0
+        msg.active_job_id = f"{self.sensor_id}:isaac_sensor_telemetry"
+        msg.capture_intent.value = CaptureIntentType.CAMERA_EXTRINSIC_CAPTURE
+
+        self.publisher.publish(msg)
+        self.last_publish_wall_time = now
+
+    def shutdown(self):
+        if self.node is not None:
+            self.node.destroy_node()
+            self.node = None
+
+
+class AckermannUrdfJointDriver:
+    def __init__(self, args):
+        self.wheel_base = args.wheel_base
+        self.wheel_radius = args.wheel_radius
+        self.max_steer_angle_rad = math.radians(args.max_steer_angle_deg)
+        self.max_speed_ms = args.max_speed_ms
+        self.joint_indices = {}
+        self.warned = False
+
+    def configure(self, robot):
+        joint_names = [
+            "front_left_steer_joint",
+            "front_right_steer_joint",
+            "front_left_wheel_joint",
+            "front_right_wheel_joint",
+            "rear_left_wheel_joint",
+            "rear_right_wheel_joint",
+        ]
+        for name in joint_names:
+            try:
+                self.joint_indices[name] = int(robot.get_dof_index(name))
+            except Exception:
+                continue
+
+        if len(self.joint_indices) < len(joint_names):
+            missing = sorted(set(joint_names) - set(self.joint_indices))
+            print(f"[WARN] 部分阿克曼关节未找到，车轮动画可能不完整: {missing}")
+        else:
+            print("[*] 阿克曼 URDF 关节动画已启用：前轮转向，后轮驱动。")
+
+    def steering_from_cmd(self, linear_x, angular_z):
+        linear_x = clamp(float(linear_x), -self.max_speed_ms, self.max_speed_ms)
+        angular_z = float(angular_z)
+        if abs(linear_x) < 0.02:
+            return clamp(math.copysign(self.max_steer_angle_rad, angular_z), -self.max_steer_angle_rad, self.max_steer_angle_rad) if abs(angular_z) > 0.02 else 0.0
+        steer = math.atan(self.wheel_base * angular_z / linear_x)
+        return clamp(steer, -self.max_steer_angle_rad, self.max_steer_angle_rad)
+
+    def apply(self, robot, linear_x, angular_z):
+        if not self.joint_indices:
+            return
+
+        steer = self.steering_from_cmd(linear_x, angular_z)
+        wheel_velocity = clamp(float(linear_x), -self.max_speed_ms, self.max_speed_ms) / self.wheel_radius
+
+        try:
+            steer_indices = [
+                self.joint_indices[name]
+                for name in ("front_left_steer_joint", "front_right_steer_joint")
+                if name in self.joint_indices
+            ]
+            if steer_indices:
+                robot.set_joint_positions(np.array([steer] * len(steer_indices)), joint_indices=np.array(steer_indices))
+
+            wheel_indices = [
+                self.joint_indices[name]
+                for name in (
+                    "front_left_wheel_joint",
+                    "front_right_wheel_joint",
+                    "rear_left_wheel_joint",
+                    "rear_right_wheel_joint",
+                )
+                if name in self.joint_indices
+            ]
+            if wheel_indices:
+                robot.set_joint_velocities(np.array([wheel_velocity] * len(wheel_indices)), joint_indices=np.array(wheel_indices))
+        except Exception as exc:
+            if not self.warned:
+                print(f"[WARN] 阿克曼关节动画写入失败，车辆根位姿控制仍继续: {exc}")
+                self.warned = True
+
+
+class IsaacWorkshopRuntime:
+    def __init__(self, args):
+        self.args = args
+        self.camera_topic = resolve_topic(args.ros_topic_prefix, "/camera/image_raw")
+        self.lidar_topic_prefix = resolve_topic(args.ros_topic_prefix, "/lidar")
+        self.cmd_vel_topic = args.cmd_vel_topic
+        self.vehicle_camera_topic = args.vehicle_camera_topic
+        self.down_camera_topic = args.down_camera_topic
+        self.vehicle_lidar_topic = args.vehicle_lidar_topic
+        self.vehicle_2d_lidar_topic = args.vehicle_2d_lidar_topic
+        self.vehicle_imu_topic = args.vehicle_imu_topic
+        self.checkerboard_texture_path = GENERATED_ROOT / "checkerboard.png"
+        self.down_camera_charuco_texture_path = GENERATED_ROOT / "down_camera_charuco.png"
+        self.source_urdf_path = Path(args.urdf_path).expanduser().resolve() if args.urdf_path else DEFAULT_ACKERMANN_URDF_PATH
+        should_fix_legacy_ack_m = (
+            not args.disable_urdf_visual_origin_fix
+            and self.source_urdf_path.name == "ack_m.urdf"
+        )
+        self.urdf_path = (
+            prepare_isaac_urdf(self.source_urdf_path, GENERATED_ROOT / "ack_m_isaac_fixed.urdf")
+            if should_fix_legacy_ack_m
+            else self.source_urdf_path
+        )
+        self.usd_path = None
+        self.vehicle_prim_path = ""
+        self.vehicle = None
+        self.sensor_render_products = []
+        self.calibration_board_specs = []
+        self.lidar_2d_target_specs = []
+        self.down_camera_target_specs = []
+        self.scene_manifest_path = (
+            Path(args.scene_manifest_path).expanduser().resolve()
+            if args.scene_manifest_path
+            else GENERATED_ROOT / "workshop_scene_manifest.json"
+        )
+
+        if not self.source_urdf_path.exists():
+            raise FileNotFoundError(f"未找到车辆 URDF: {self.source_urdf_path}")
+
+    def create_ros_camera_render_product(self, prim_path, position, orientation, focal_length):
+        create_prim(
+            prim_path=prim_path,
+            prim_type="Camera",
+            position=np.array(position),
+            orientation=np.array(orientation),
+            attributes={
+                "focalLength": float(focal_length),
+            },
+        )
+        render_product = rep.create.render_product(
+            prim_path,
+            (self.args.camera_resolution_width, self.args.camera_resolution_height),
+        )
+        self.sensor_render_products.append(render_product)
+        return str(render_product.path)
+
+    def write_scene_manifest(self):
+        manifest = {
+            "vehicle": {
+                "vehicle_id": self.args.vehicle_id,
+                "vehicle_source": "urdf_direct",
+                "source_urdf_path": str(self.source_urdf_path),
+                "urdf_path": str(self.urdf_path),
+                "usd_path": None,
+                "stage_prim_path": self.vehicle_prim_path,
+                "drive_wheels": ["rear_left_wheel_link", "rear_right_wheel_link"],
+                "steer_wheels": ["front_left_wheel_link", "front_right_wheel_link"],
+                "initial_pose": {
+                    "x_m": self.args.vehicle_initial_x,
+                    "y_m": self.args.vehicle_initial_y,
+                    "z_m": self.args.vehicle_initial_z,
+                    "yaw_rad": 0.0,
+                },
+            },
+            "workshop": {
+                "workcell_zone_id": self.args.external_workcell_zone_id,
+                "room_length_m": self.args.room_length,
+                "room_width_m": self.args.room_width,
+                "room_height_m": self.args.room_height,
+                "checkerboard": {
+                    "rows": self.args.checkerboard_rows,
+                    "cols": self.args.checkerboard_cols,
+                    "square_size_m": self.args.checkerboard_square_size,
+                    "texture_path": str(self.checkerboard_texture_path),
+                    "reserved_wall_zones": lidar_2d_checkerboard_reserved_zones(self.args),
+                    "layout": self.calibration_board_specs,
+                },
+                "down_camera_intrinsic_target": {
+                    "enabled": not self.args.disable_down_camera_intrinsic_target,
+                    "texture_path": str(self.down_camera_charuco_texture_path),
+                    "pattern": "charuco",
+                    "squares_x": self.args.down_camera_target_squares_x,
+                    "squares_y": self.args.down_camera_target_squares_y,
+                    "square_size_x_m": self.args.down_camera_target_length / self.args.down_camera_target_squares_x,
+                    "square_size_y_m": self.args.down_camera_target_width / self.args.down_camera_target_squares_y,
+                    "layout": self.down_camera_target_specs,
+                },
+            },
+            "ros_topics": {
+                "cmd_vel": self.cmd_vel_topic,
+                "camera_image": self.camera_topic,
+                "lidar_prefix": self.lidar_topic_prefix,
+                "front_camera_image": self.vehicle_camera_topic,
+                "down_camera_image": self.down_camera_topic,
+                "lidar_3d_pointcloud": self.vehicle_lidar_topic,
+                "lidar_2d_scan": self.vehicle_2d_lidar_topic,
+                "imu": self.vehicle_imu_topic,
+                "external_telemetry": self.args.external_telemetry_topic,
+                "chassis_telemetry": self.args.chassis_telemetry_topic,
+                "control_telemetry": self.args.control_telemetry_topic,
+                "sensor_telemetry": self.args.sensor_telemetry_topic,
+            },
+            "chassis_calibration": {
+                "chassis_type": self.args.chassis_type,
+                "straight_track_length_m": self.args.straight_track_length,
+                "straight_track_width_m": self.args.straight_track_width,
+                "arc_track_radius_m": self.args.arc_track_radius,
+                "wheel_radius_m": self.args.wheel_radius,
+                "wheel_track_m": self.args.wheel_track,
+                "wheel_base_m": self.args.wheel_base,
+            },
+            "control_calibration": {
+                "reference_path": [
+                    {"x_m": -self.args.straight_track_length / 2.0, "y_m": self.args.control_reference_y_m, "yaw_rad": 0.0, "target_speed_ms": self.args.control_reference_speed_ms},
+                    {"x_m": self.args.straight_track_length / 2.0, "y_m": self.args.control_reference_y_m, "yaw_rad": 0.0, "target_speed_ms": self.args.control_reference_speed_ms},
+                ],
+                "parameter_version": self.args.control_parameter_version,
+            },
+            "external_truth": {
+                "localization_source_id": self.args.external_reference_source_name,
+                "reference_source_name": self.args.external_reference_source_name,
+                "workcell_zone_id": self.args.external_workcell_zone_id,
+                "expected_position_stddev_m": self.args.external_position_stddev_m,
+                "expected_yaw_stddev_rad": self.args.external_yaw_stddev_rad,
+                "expected_time_sync_offset_ms": self.args.external_time_sync_offset_ms,
+            },
+            "sensors": [
+                {
+                    "sensor_id": self.args.front_camera_sensor_id,
+                    "sensor_type": "front_camera",
+                    "frame_id": "front_camera_link",
+                    "image_topic": self.vehicle_camera_topic,
+                    "telemetry_topic": self.args.sensor_telemetry_topic,
+                    "mount_pose": {
+                        "x_m": self.args.vehicle_camera_x,
+                        "y_m": self.args.vehicle_camera_y,
+                        "z_m": self.args.vehicle_camera_z,
+                        "roll_rad": 0.0,
+                        "pitch_rad": -math.pi / 2.0,
+                        "yaw_rad": 0.0,
+                    },
+                },
+                {
+                    "sensor_id": "demo_down_camera",
+                    "sensor_type": "down_camera",
+                    "frame_id": "down_camera_link",
+                    "image_topic": self.down_camera_topic,
+                    "mount_pose": {
+                        "x_m": self.args.down_camera_x,
+                        "y_m": self.args.down_camera_y,
+                        "z_m": self.args.down_camera_z,
+                        "roll_rad": 0.0,
+                        "pitch_rad": 0.0,
+                        "yaw_rad": 0.0,
+                    },
+                },
+                {
+                    "sensor_id": "demo_lidar_3d",
+                    "sensor_type": "lidar_3d",
+                    "frame_id": "lidar_3d_link",
+                    "pointcloud_topic": self.vehicle_lidar_topic,
+                    "mount_pose": {
+                        "x_m": self.args.vehicle_lidar_x,
+                        "y_m": self.args.vehicle_lidar_y,
+                        "z_m": self.args.vehicle_lidar_z,
+                        "roll_rad": 0.0,
+                        "pitch_rad": 0.0,
+                        "yaw_rad": 0.0,
+                    },
+                },
+                {
+                    "sensor_id": "demo_lidar_2d",
+                    "sensor_type": "lidar_2d",
+                    "frame_id": "lidar_2d_link",
+                    "scan_topic": self.vehicle_2d_lidar_topic,
+                    "mount_pose": {
+                        "x_m": self.args.vehicle_2d_lidar_x,
+                        "y_m": self.args.vehicle_2d_lidar_y,
+                        "z_m": self.args.vehicle_2d_lidar_z,
+                        "roll_rad": 0.0,
+                        "pitch_rad": 0.0,
+                        "yaw_rad": 0.0,
+                    },
+                },
+                {
+                    "sensor_id": "demo_imu",
+                    "sensor_type": "imu",
+                    "frame_id": "imu_link",
+                    "imu_topic": self.vehicle_imu_topic,
+                    "mount_pose": {
+                        "x_m": self.args.vehicle_imu_x,
+                        "y_m": self.args.vehicle_imu_y,
+                        "z_m": self.args.vehicle_imu_z,
+                        "roll_rad": 0.0,
+                        "pitch_rad": 0.0,
+                        "yaw_rad": 0.0,
+                    },
+                },
+            ],
+            "lidar_2d_calibration_targets": {
+                "enabled": not self.args.disable_2d_lidar_targets,
+                "target_width_m": self.args.lidar_2d_target_width,
+                "target_height_m": self.args.lidar_2d_target_height,
+                "target_thickness_m": self.args.lidar_2d_target_thickness,
+                "target_bottom_z_m": self.args.lidar_2d_target_bottom_z,
+                "slope_angle_deg": self.args.lidar_2d_target_slope_angle_deg,
+                "targets": self.lidar_2d_target_specs,
+            },
+            "orchestrator_session_config_hint": {
+                "vehicle_id": self.args.vehicle_id,
+                "localization_source_id": self.args.external_reference_source_name,
+                "workcell_zone_id": self.args.external_workcell_zone_id,
+                "reference_target_id": "isaac_external_truth",
+            },
+        }
+
+        self.scene_manifest_path.parent.mkdir(parents=True, exist_ok=True)
+        with self.scene_manifest_path.open("w", encoding="utf-8") as fp:
+            json.dump(manifest, fp, ensure_ascii=False, indent=2)
+            fp.write("\n")
+        print(f"[*] 场景 manifest 已写入: {self.scene_manifest_path}")
+
+    def import_vehicle_to_stage(self, world):
+        status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
+        if not status:
+            raise RuntimeError("创建 URDF import_config 失败。")
+
+        import_config.merge_fixed_joints = False
+        import_config.convex_decomp = False
+        import_config.fix_base = False
+        import_config.make_default_prim = True
+        if hasattr(import_config, "import_inertia_tensor"):
+            import_config.import_inertia_tensor = True
+
+        print(f"[*] 直接从 URDF 路径导入车辆: {self.urdf_path}")
+        status, imported_prim_path = omni.kit.commands.execute(
+            "URDFParseAndImportFile",
+            urdf_path=str(self.urdf_path),
+            import_config=import_config,
+        )
+        if not status or not imported_prim_path:
+            raise RuntimeError(f"URDF 导入失败: {self.urdf_path}")
+
+        self.vehicle_prim_path = str(imported_prim_path)
+        self.vehicle = world.scene.add(
+            Robot(
+                prim_path=self.vehicle_prim_path,
+                name="agv_vehicle",
+                position=np.array([
+                    self.args.vehicle_initial_x,
+                    self.args.vehicle_initial_y,
+                    self.args.vehicle_initial_z,
+                ]),
+            )
+        )
+        print(f"[*] 车辆已导入 stage: {self.vehicle_prim_path}")
+
+        stage = omni.usd.get_context().get_stage()
+        physx_rb = PhysxSchema.PhysxRigidBodyAPI.Get(stage, self.vehicle_prim_path)
+        if physx_rb:
+            physx_rb.GetSleepThresholdAttr().Set(0.0)
+
+    def find_vehicle_rigid_body_prim_path(self, preferred_names):
+        stage = omni.usd.get_context().get_stage()
+        vehicle_root = self.vehicle_prim_path.rstrip("/")
+        preferred = set(preferred_names)
+        fallback_path = ""
+
+        for prim in stage.Traverse():
+            prim_path = str(prim.GetPath())
+            if prim_path != vehicle_root and not prim_path.startswith(f"{vehicle_root}/"):
+                continue
+
+            rigid_body = PhysxSchema.PhysxRigidBodyAPI.Get(stage, prim_path)
+            if not rigid_body:
+                continue
+
+            prim_name = prim.GetName()
+            if prim_name in preferred:
+                return prim_path
+            if not fallback_path:
+                fallback_path = prim_path
+
+        return fallback_path
+
+    def add_vehicle_sensor_publishers(self):
+        if (
+            self.args.disable_vehicle_camera
+            and self.args.disable_down_camera
+            and self.args.disable_vehicle_lidar
+            and self.args.disable_vehicle_2d_lidar
+            and self.args.disable_vehicle_imu
+        ):
+            return
+
+        keys = og.Controller.Keys
+        nodes = [("OnTick", "omni.graph.action.OnTick")]
+        connections = []
+        set_values = []
+        vehicle_root = self.vehicle_prim_path
+
+        if not self.args.disable_vehicle_camera:
+            camera_quat = euler_angles_to_quat(np.array([0.0, -90.0, 0.0]), degrees=True)
+            vehicle_camera_render_product = self.create_ros_camera_render_product(
+                prim_path=f"{vehicle_root}/SimFrontCamera",
+                position=[
+                    self.args.vehicle_camera_x,
+                    self.args.vehicle_camera_y,
+                    self.args.vehicle_camera_z,
+                ],
+                orientation=camera_quat,
+                focal_length=self.args.camera_focal_length,
+            )
+            nodes.append(("VehicleFrontCamera", "omni.isaac.ros2_bridge.ROS2CameraHelper"))
+            connections.append(("OnTick.outputs:tick", "VehicleFrontCamera.inputs:execIn"))
+            set_values.extend([
+                ("VehicleFrontCamera.inputs:renderProductPath", vehicle_camera_render_product),
+                ("VehicleFrontCamera.inputs:topicName", self.vehicle_camera_topic),
+                ("VehicleFrontCamera.inputs:frameId", "front_camera_link"),
+                ("VehicleFrontCamera.inputs:type", "rgb"),
+            ])
+
+        if not self.args.disable_down_camera:
+            down_camera_render_product = self.create_ros_camera_render_product(
+                prim_path=f"{vehicle_root}/SimDownCamera",
+                position=[
+                    self.args.down_camera_x,
+                    self.args.down_camera_y,
+                    self.args.down_camera_z,
+                ],
+                orientation=[1.0, 0.0, 0.0, 0.0],
+                focal_length=self.args.camera_focal_length,
+            )
+            nodes.append(("VehicleDownCamera", "omni.isaac.ros2_bridge.ROS2CameraHelper"))
+            connections.append(("OnTick.outputs:tick", "VehicleDownCamera.inputs:execIn"))
+            set_values.extend([
+                ("VehicleDownCamera.inputs:renderProductPath", down_camera_render_product),
+                ("VehicleDownCamera.inputs:topicName", self.down_camera_topic),
+                ("VehicleDownCamera.inputs:frameId", "down_camera_link"),
+                ("VehicleDownCamera.inputs:type", "rgb"),
+            ])
+
+        if not self.args.disable_vehicle_lidar:
+            lidar_path = f"{vehicle_root}/SimLidar3D"
+            lidar_quat = euler_angles_to_quat(np.array([0.0, 0.0, 0.0]), degrees=True)
+            omni.kit.commands.execute(
+                "IsaacSensorCreateRtxLidar",
+                path=lidar_path,
+                parent=None,
+                config=self.args.lidar_config,
+                translation=Gf.Vec3d(
+                    self.args.vehicle_lidar_x,
+                    self.args.vehicle_lidar_y,
+                    self.args.vehicle_lidar_z,
+                ),
+                orientation=Gf.Quatd(lidar_quat[0], lidar_quat[1], lidar_quat[2], lidar_quat[3]),
+            )
+            render_product = rep.create.render_product(lidar_path, [1, 1])
+            self.sensor_render_products.append(render_product)
+            nodes.append(("VehicleLidar3D", "omni.isaac.ros2_bridge.ROS2RtxLidarHelper"))
+            connections.append(("OnTick.outputs:tick", "VehicleLidar3D.inputs:execIn"))
+            set_values.extend([
+                ("VehicleLidar3D.inputs:renderProductPath", str(render_product.path)),
+                ("VehicleLidar3D.inputs:topicName", self.vehicle_lidar_topic),
+                ("VehicleLidar3D.inputs:frameId", "lidar_3d_link"),
+                ("VehicleLidar3D.inputs:type", "point_cloud"),
+                ("VehicleLidar3D.inputs:fullScan", True),
+            ])
+
+        if not self.args.disable_vehicle_2d_lidar:
+            lidar_2d_path = f"{vehicle_root}/SimLidar2D"
+            lidar_2d_quat = euler_angles_to_quat(np.array([0.0, 0.0, 0.0]), degrees=True)
+            omni.kit.commands.execute(
+                "IsaacSensorCreateRtxLidar",
+                path=lidar_2d_path,
+                parent=None,
+                config=self.args.lidar_config,
+                translation=Gf.Vec3d(
+                    self.args.vehicle_2d_lidar_x,
+                    self.args.vehicle_2d_lidar_y,
+                    self.args.vehicle_2d_lidar_z,
+                ),
+                orientation=Gf.Quatd(lidar_2d_quat[0], lidar_2d_quat[1], lidar_2d_quat[2], lidar_2d_quat[3]),
+            )
+            render_product_2d = rep.create.render_product(lidar_2d_path, [1, 1])
+            self.sensor_render_products.append(render_product_2d)
+            print(f"[*] 2D LiDAR RTX sensor prim 已创建: {lidar_2d_path}")
+            print(f"[*] 2D LiDAR ROS topic 由 Isaac 几何扫描发布器输出: {self.vehicle_2d_lidar_topic}")
+
+        if not self.args.disable_vehicle_imu:
+            imu_parent_path = self.find_vehicle_rigid_body_prim_path(["base_link", "imu_link"])
+            if not imu_parent_path:
+                print("[WARN] 未找到可挂载 IMU 的车辆刚体 link，跳过 Isaac IMU sensor prim 创建。")
+                imu_parent_path = ""
+            imu_path = f"{imu_parent_path}/SimImu" if imu_parent_path else ""
+            if imu_parent_path:
+                imu_quat = Gf.Quatd(1.0, 0.0, 0.0, 0.0)
+                status, _sensor = omni.kit.commands.execute(
+                    "IsaacSensorCreateImuSensor",
+                    path="/SimImu",
+                    parent=imu_parent_path,
+                    sensor_period=-1.0,
+                    translation=Gf.Vec3d(
+                        self.args.vehicle_imu_x,
+                        self.args.vehicle_imu_y,
+                        self.args.vehicle_imu_z,
+                    ),
+                    orientation=imu_quat,
+                )
+                if status:
+                    print(f"[*] 车载 IMU sensor prim 已挂载到刚体 link: {imu_parent_path}, sensor={imu_path}")
+                    print(f"[*] IMU ROS topic 由 Isaac 车辆状态发布器输出: {self.vehicle_imu_topic}")
+                else:
+                    print(f"[WARN] IsaacSensorCreateImuSensor 创建失败，parent={imu_parent_path}，IMU ROS topic 将继续由 Isaac 车辆状态发布器输出。")
+
+        og.Controller.edit(
+            {"graph_path": "/World/ROS2_Vehicle_Sensors_Graph", "evaluator_name": "execution"},
+            {keys.CREATE_NODES: nodes, keys.CONNECT: connections, keys.SET_VALUES: set_values},
+        )
+
+    def build_workshop(self):
+        world = World(stage_units_in_meters=1.0)
+        room_length = self.args.room_length
+        room_width = self.args.room_width
+        room_height = self.args.room_height
+        wall_thickness = self.args.wall_thickness
+        floor_color = np.array([0.2, 0.2, 0.2])
+        wall_color = np.array([0.8, 0.8, 0.8])
+
+        world.scene.add(FixedCuboid(
+            prim_path="/World/Workshop/Floor",
+            name="floor",
+            position=np.array([0, 0, -wall_thickness / 2]),
+            scale=np.array([room_length + 2 * wall_thickness, room_width + 2 * wall_thickness, wall_thickness]),
+            color=floor_color,
+        ))
+        world.scene.add(FixedCuboid(
+            prim_path="/World/Workshop/Ceiling",
+            name="ceiling",
+            position=np.array([0, 0, room_height + wall_thickness / 2]),
+            scale=np.array([room_length + 2 * wall_thickness, room_width + 2 * wall_thickness, wall_thickness]),
+            color=wall_color,
+        ))
+        world.scene.add(FixedCuboid(
+            prim_path="/World/Workshop/Wall_Front",
+            name="wall_front",
+            position=np.array([room_length / 2 + wall_thickness / 2, 0, room_height / 2]),
+            scale=np.array([wall_thickness, room_width, room_height]),
+            color=wall_color,
+        ))
+        world.scene.add(FixedCuboid(
+            prim_path="/World/Workshop/Wall_Back",
+            name="wall_back",
+            position=np.array([-room_length / 2 - wall_thickness / 2, 0, room_height / 2]),
+            scale=np.array([wall_thickness, room_width, room_height]),
+            color=wall_color,
+        ))
+        world.scene.add(FixedCuboid(
+            prim_path="/World/Workshop/Wall_Left",
+            name="wall_left",
+            position=np.array([0, room_width / 2 + wall_thickness / 2, room_height / 2]),
+            scale=np.array([room_length + 2 * wall_thickness, wall_thickness, room_height]),
+            color=wall_color,
+        ))
+        world.scene.add(FixedCuboid(
+            prim_path="/World/Workshop/Wall_Right",
+            name="wall_right",
+            position=np.array([0, -room_width / 2 - wall_thickness / 2, room_height / 2]),
+            scale=np.array([room_length + 2 * wall_thickness, wall_thickness, room_height]),
+            color=wall_color,
+        ))
+
+        light_positions = [
+            (room_length / 4, room_width / 4, room_height - 0.5),
+            (room_length / 4, -room_width / 4, room_height - 0.5),
+            (-room_length / 4, room_width / 4, room_height - 0.5),
+            (-room_length / 4, -room_width / 4, room_height - 0.5),
+        ]
+        for index, position in enumerate(light_positions):
+            create_prim(
+                prim_path=f"/World/Workshop/Lights/Light_{index}",
+                prim_type="SphereLight",
+                position=np.array(position),
+                attributes={
+                    "inputs:radius": 0.3,
+                    "inputs:intensity": self.args.light_intensity,
+                    "inputs:color": (1.0, 1.0, 0.95),
+                },
+            )
+
+        checkerboard_texture = create_checkerboard_image(
+            self.checkerboard_texture_path,
+            rows=self.args.checkerboard_rows,
+            cols=self.args.checkerboard_cols,
+            square_size_px=500,
+        )
+        stage = omni.usd.get_context().get_stage()
+        material = create_raw_usd_material(stage, "/World/Workshop/Materials/CheckerboardMat", checkerboard_texture)
+        down_camera_target_material = None
+        if not self.args.disable_down_camera_intrinsic_target:
+            down_camera_charuco_texture = create_charuco_image(
+                self.down_camera_charuco_texture_path,
+                squares_x=self.args.down_camera_target_squares_x,
+                squares_y=self.args.down_camera_target_squares_y,
+                square_size_px=90,
+            )
+            down_camera_target_material = create_raw_usd_material(
+                stage,
+                "/World/Workshop/Materials/DownCameraCharucoMat",
+                down_camera_charuco_texture,
+            )
+
+        board_width = (self.args.checkerboard_cols + 2) * self.args.checkerboard_square_size
+        board_height = (self.args.checkerboard_rows + 2) * self.args.checkerboard_square_size
+        if self.args.disable_calibration_boards:
+            print("[*] 已禁用多姿态棋盘格标定目标阵列。")
+        else:
+            self.calibration_board_specs = add_calibration_boards(
+                stage,
+                self.args,
+                board_width,
+                board_height,
+                material,
+            )
+            print(f"[*] 已创建 {len(self.calibration_board_specs)} 个多姿态棋盘格标定目标。")
+
+        if self.args.disable_2d_lidar_targets:
+            print("[*] 已禁用 2D LiDAR 角落外参标定靶标。")
+        else:
+            self.lidar_2d_target_specs = add_2d_lidar_calibration_targets(world, self.args)
+            print(f"[*] 已创建 {len(self.lidar_2d_target_specs)} 个 2D LiDAR 角落外参标定靶标。")
+
+        if not self.args.disable_calibration_fixtures:
+            add_calibration_floor_fixtures(world, self.args)
+
+        if self.args.disable_down_camera_intrinsic_target:
+            print("[*] 已禁用下视相机 3D ChArUco 内参标定台。")
+        else:
+            self.down_camera_target_specs = add_down_camera_intrinsic_target(
+                world,
+                stage,
+                self.args,
+                down_camera_target_material,
+            )
+            print(f"[*] 已创建 {len(self.down_camera_target_specs)} 个下视相机 3D ChArUco 内参标定台。")
+
+        if not self.args.disable_camera:
+            camera_height = room_height - 0.1
+            camera_render_product = self.create_ros_camera_render_product(
+                prim_path="/World/Workshop/CalibrationCamera",
+                position=[0.0, 0.0, camera_height],
+                orientation=[1.0, 0.0, 0.0, 0.0],
+                focal_length=self.args.camera_focal_length,
+            )
+
+            keys = og.Controller.Keys
+            og.Controller.edit(
+                {"graph_path": "/World/ROS2_Camera_Graph", "evaluator_name": "execution"},
+                {
+                    keys.CREATE_NODES: [
+                        ("OnTick", "omni.graph.action.OnTick"),
+                        ("ROS2Camera", "omni.isaac.ros2_bridge.ROS2CameraHelper"),
+                    ],
+                    keys.CONNECT: [("OnTick.outputs:tick", "ROS2Camera.inputs:execIn")],
+                    keys.SET_VALUES: [
+                        ("ROS2Camera.inputs:renderProductPath", camera_render_product),
+                        ("ROS2Camera.inputs:topicName", self.camera_topic),
+                        ("ROS2Camera.inputs:type", "rgb"),
+                    ],
+                },
+            )
+
+        if not self.args.disable_lidars:
+            add_corner_rotary_lidars(
+                room_length=room_length,
+                room_width=room_width,
+                height=room_height - 0.2,
+                lidar_config=self.args.lidar_config,
+                topic_prefix=self.lidar_topic_prefix,
+            )
+
+        self.import_vehicle_to_stage(world)
+        self.add_vehicle_sensor_publishers()
+
+        keys = og.Controller.Keys
+        og.Controller.edit(
+            {"graph_path": "/World/ROS2_Twist_Graph", "evaluator_name": "execution"},
+            {
+                keys.CREATE_NODES: [
+                    ("OnTick", "omni.graph.action.OnTick"),
+                    ("TwistSub", "omni.isaac.ros2_bridge.ROS2SubscribeTwist"),
+                ],
+                keys.CONNECT: [("OnTick.outputs:tick", "TwistSub.inputs:execIn")],
+                keys.SET_VALUES: [("TwistSub.inputs:topicName", self.cmd_vel_topic)],
+            },
+        )
+
+        return world
+
+
+def main():
+    runtime = IsaacWorkshopRuntime(ARGS)
+    telemetry_publisher = ExternalTruthTelemetryPublisher(ARGS)
+    vehicle_imu_publisher = VehicleImuTopicPublisher(ARGS)
+    chassis_telemetry_publisher = ChassisCalibrationTelemetryPublisher(ARGS)
+    control_telemetry_publisher = ControlCalibrationTelemetryPublisher(ARGS)
+    sensor_telemetry_publisher = SensorCalibrationTelemetryPublisher(ARGS)
+    world = runtime.build_workshop()
+    vehicle_laser_scan_publisher = VehicleLaserScanTopicPublisher(ARGS, runtime.lidar_2d_target_specs)
+    runtime.write_scene_manifest()
+    world.reset()
+
+    if not ARGS.headless:
+        set_camera_view(eye=np.array([0.001, 0.0, 3.4]), target=np.array([0.0, 0.0, 0.0]))
+
+    print("======================================================")
+    print(" 🎯 Isaac 标定车间已启动")
+    print(f"  - headless: {ARGS.headless}")
+    print(f"  - 车辆 URDF: {runtime.urdf_path}")
+    print(f"  - 车辆 prim: {runtime.vehicle_prim_path}")
+    print(f"  - 相机 topic: {runtime.camera_topic}")
+    print(f"  - 激光雷达前缀: {runtime.lidar_topic_prefix}")
+    print(f"  - 前视相机 topic: {runtime.vehicle_camera_topic}")
+    print(f"  - 下视相机 topic: {runtime.down_camera_topic}")
+    print(f"  - 3D LiDAR topic: {runtime.vehicle_lidar_topic}")
+    print(f"  - 2D LiDAR topic: {runtime.vehicle_2d_lidar_topic}")
+    print(f"  - IMU topic: {runtime.vehicle_imu_topic}")
+    print(f"  - /cmd_vel topic: {runtime.cmd_vel_topic}")
+    print(f"  - external telemetry topic: {ARGS.external_telemetry_topic}")
+    print(f"  - chassis telemetry topic: {ARGS.chassis_telemetry_topic}")
+    print(f"  - control telemetry topic: {ARGS.control_telemetry_topic}")
+    print(f"  - sensor telemetry topic: {ARGS.sensor_telemetry_topic}")
+    print(f"  - scene manifest: {runtime.scene_manifest_path}")
+    print("======================================================")
+
+    agv = runtime.vehicle or world.scene.get_object("agv_vehicle")
+    ackermann_joint_driver = AckermannUrdfJointDriver(ARGS)
+    ackermann_joint_driver.configure(agv)
+    render_sensor_outputs = (
+        not ARGS.disable_camera
+        or not ARGS.disable_lidars
+        or not ARGS.disable_vehicle_camera
+        or not ARGS.disable_down_camera
+        or not ARGS.disable_vehicle_lidar
+    )
+    render_frame = (not ARGS.headless) or render_sensor_outputs
+    if ARGS.headless and render_sensor_outputs:
+        print("[*] headless 模式下启用离屏渲染，用于相机和 RTX LiDAR render product 发布。")
+
+    try:
+        while simulation_app.is_running():
+            try:
+                lin_vel = og.Controller.get(og.Controller.attribute("/World/ROS2_Twist_Graph/TwistSub.outputs:linearVelocity"))
+                ang_vel = og.Controller.get(og.Controller.attribute("/World/ROS2_Twist_Graph/TwistSub.outputs:angularVelocity"))
+
+                if lin_vel is not None and ang_vel is not None and len(lin_vel) == 3:
+                    _, quat = agv.get_world_pose()
+                    current_linear_velocity = agv.get_linear_velocity()
+
+                    q = Gf.Quatd(float(quat[0]), float(quat[1]), float(quat[2]), float(quat[3]))
+                    rot_mat = Gf.Matrix3d(Gf.Rotation(q))
+                    world_linear_velocity = Gf.Vec3d(*lin_vel) * rot_mat
+                    world_angular_velocity = Gf.Vec3d(*ang_vel) * rot_mat
+
+                    target_linear_velocity = np.array([world_linear_velocity[0], world_linear_velocity[1], current_linear_velocity[2]])
+                    target_angular_velocity = np.array([0.0, 0.0, world_angular_velocity[2]])
+                    agv.set_linear_velocity(target_linear_velocity)
+                    agv.set_angular_velocity(target_angular_velocity)
+                    ackermann_joint_driver.apply(agv, lin_vel[0], ang_vel[2])
+
+                    if abs(lin_vel[0]) > 0.01 or abs(ang_vel[2]) > 0.01:
+                        print(f"\r[ROS2 Debug] 车辆移动中: 线速度 {lin_vel[0]:.2f}, 角速度 {ang_vel[2]:.2f}", end="")
+            except Exception as exc:
+                print(f"\n[ERROR] 运动学控制循环异常: {exc}")
+
+            world.step(render=render_frame)
+            telemetry_publisher.publish(agv)
+            vehicle_imu_publisher.publish(agv)
+            vehicle_laser_scan_publisher.publish(agv)
+            chassis_telemetry_publisher.publish(agv)
+            control_telemetry_publisher.publish(agv)
+            sensor_telemetry_publisher.publish()
+    finally:
+        telemetry_publisher.shutdown()
+        vehicle_imu_publisher.shutdown()
+        vehicle_laser_scan_publisher.shutdown()
+        chassis_telemetry_publisher.shutdown()
+        control_telemetry_publisher.shutdown()
+        sensor_telemetry_publisher.shutdown()
+        if rclpy is not None and rclpy.ok():
+            rclpy.shutdown()
+        simulation_app.close()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/agv_calib_brain/src/calibration_sim/CMakeLists.txt b/agv_calib_brain/src/simulation/legacy_calibration_sim/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/CMakeLists.txt
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/CMakeLists.txt
diff --git a/agv_calib_brain/src/calibration_sim/launch/calibration_system.launch.py b/agv_calib_brain/src/simulation/legacy_calibration_sim/launch/calibration_system.launch.py
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/launch/calibration_system.launch.py
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/launch/calibration_system.launch.py
diff --git a/agv_calib_brain/src/calibration_sim/package.xml b/agv_calib_brain/src/simulation/legacy_calibration_sim/package.xml
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/package.xml
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/package.xml
diff --git a/agv_calib_brain/src/calibration_sim/urdf/agv.xacro b/agv_calib_brain/src/simulation/legacy_calibration_sim/urdf/agv.xacro
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/urdf/agv.xacro
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/urdf/agv.xacro
diff --git a/agv_calib_brain/src/calibration_sim/urdf/calibration_board.xacro b/agv_calib_brain/src/simulation/legacy_calibration_sim/urdf/calibration_board.xacro
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/urdf/calibration_board.xacro
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/urdf/calibration_board.xacro
diff --git a/agv_calib_brain/src/calibration_sim/urdf/workshop_sensors.xacro b/agv_calib_brain/src/simulation/legacy_calibration_sim/urdf/workshop_sensors.xacro
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/urdf/workshop_sensors.xacro
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/urdf/workshop_sensors.xacro
diff --git a/agv_calib_brain/src/calibration_sim/worlds/calibration_room.world b/agv_calib_brain/src/simulation/legacy_calibration_sim/worlds/calibration_room.world
similarity index 100%
rename from agv_calib_brain/src/calibration_sim/worlds/calibration_room.world
rename to agv_calib_brain/src/simulation/legacy_calibration_sim/worlds/calibration_room.world
diff --git a/agv_calib_brain/src/simulation/tools/external_pose_wifi6_bridge.py b/agv_calib_brain/src/simulation/tools/external_pose_wifi6_bridge.py
new file mode 100644
index 0000000..0f939e5
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/external_pose_wifi6_bridge.py
@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+"""Bridge external truth pose from ROS to the simulated WiFi6 TCP vehicle link."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import struct
+import time
+from typing import Any
+
+import rclpy
+
+try:
+    from calibration_external_localization_interfaces.msg import ExternalLocalizationTelemetry
+except ImportError:
+    ExternalLocalizationTelemetry = None
+
+
+EXTERNAL_POSE_PUSH_REQ = 31
+EXTERNAL_POSE_PUSH_RSP = 32
+
+
+def now_us() -> int:
+    return int(time.time() * 1_000_000)
+
+
+def read_exactly(conn: socket.socket, size: int) -> bytes:
+    chunks: list[bytes] = []
+    remaining = size
+    while remaining > 0:
+        chunk = conn.recv(remaining)
+        if not chunk:
+            raise ConnectionError("connection closed")
+        chunks.append(chunk)
+        remaining -= len(chunk)
+    return b"".join(chunks)
+
+
+def send_request(
+    host: str,
+    port: int,
+    msg_type: int,
+    payload: dict[str, Any],
+    timeout_sec: float,
+) -> tuple[int, dict[str, Any]]:
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    with socket.create_connection((host, port), timeout=timeout_sec) as conn:
+        conn.settimeout(timeout_sec)
+        conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+        header = read_exactly(conn, 8)
+        rsp_type, payload_len = struct.unpack("<II", header)
+        raw_payload = read_exactly(conn, payload_len) if payload_len else b"{}"
+    return rsp_type, json.loads(raw_payload.decode("utf-8"))
+
+
+class ExternalPoseWifi6Bridge:
+    def __init__(self, args: argparse.Namespace):
+        if ExternalLocalizationTelemetry is None:
+            raise RuntimeError("calibration_external_localization_interfaces is not available")
+
+        self.args = args
+        self.node = rclpy.create_node("external_pose_wifi6_bridge")
+        self.last_send_monotonic = 0.0
+        self.last_error_log_monotonic = 0.0
+        self.sent_count = 0
+        self.fail_count = 0
+        self.subscription = self.node.create_subscription(
+            ExternalLocalizationTelemetry,
+            args.source_topic,
+            self.on_pose,
+            50,
+        )
+        self.node.get_logger().info(
+            f"external pose bridge: {args.source_topic} -> {args.vehicle_host}:{args.vehicle_port}"
+        )
+
+    def rate_limited(self) -> bool:
+        if self.args.max_hz <= 0.0:
+            return False
+        now = time.monotonic()
+        period = 1.0 / self.args.max_hz
+        if now - self.last_send_monotonic < period:
+            return True
+        self.last_send_monotonic = now
+        return False
+
+    def on_pose(self, msg: Any) -> None:
+        if self.rate_limited():
+            return
+
+        pose = msg.workshop_pose
+        source_name = self.args.reference_source_name or str(msg.reference_source_name or "external_truth_wifi6")
+        payload = {
+            "hardware_timestamp_us": int(msg.hardware_timestamp_us or now_us()),
+            "pose_valid": bool(msg.pose_valid),
+            "workshop_pose": {
+                "x_m": float(pose.x_m),
+                "y_m": float(pose.y_m),
+                "z_m": float(pose.z_m),
+                "roll_rad": float(pose.roll_rad),
+                "pitch_rad": float(pose.pitch_rad),
+                "yaw_rad": float(pose.yaw_rad),
+            },
+            "position_stddev_m": float(msg.position_stddev_m),
+            "yaw_stddev_rad": float(msg.yaw_stddev_rad),
+            "tracking_loss_ratio": float(msg.tracking_loss_ratio),
+            "time_sync_offset_ms": float(msg.time_sync_offset_ms),
+            "quality_score": float(msg.quality_score),
+            "observed_target_count": int(msg.observed_target_count),
+            "reference_source_name": source_name,
+            "active_job_id": str(msg.active_job_id or ""),
+        }
+
+        try:
+            rsp_type, rsp = send_request(
+                self.args.vehicle_host,
+                self.args.vehicle_port,
+                EXTERNAL_POSE_PUSH_REQ,
+                payload,
+                self.args.timeout_sec,
+            )
+            if rsp_type != EXTERNAL_POSE_PUSH_RSP or not rsp.get("success", False):
+                raise RuntimeError(f"unexpected response type={rsp_type}, payload={rsp}")
+            self.sent_count += 1
+        except Exception as exc:
+            self.fail_count += 1
+            now = time.monotonic()
+            if now - self.last_error_log_monotonic >= self.args.error_log_interval_sec:
+                self.last_error_log_monotonic = now
+                self.node.get_logger().warning(
+                    f"failed to push external pose over wifi6_sim_tcp: {exc}; fail_count={self.fail_count}"
+                )
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="外部真值位姿 ROS -> WiFi6/TCP 车端桥")
+    parser.add_argument("--source-topic", default="/isaac/external_localization/telemetry")
+    parser.add_argument("--vehicle-host", default="127.0.0.1")
+    parser.add_argument("--vehicle-port", type=int, default=9000)
+    parser.add_argument("--reference-source-name", default="")
+    parser.add_argument("--max-hz", type=float, default=30.0)
+    parser.add_argument("--timeout-sec", type=float, default=2.0)
+    parser.add_argument("--error-log-interval-sec", type=float, default=2.0)
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    rclpy.init(args=None)
+    bridge = None
+    try:
+        bridge = ExternalPoseWifi6Bridge(args)
+        rclpy.spin(bridge.node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        if bridge is not None:
+            bridge.node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/tools/isaac_vehicle_unified_agent_sim.py b/agv_calib_brain/src/simulation/tools/isaac_vehicle_unified_agent_sim.py
new file mode 100644
index 0000000..78682c5
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/isaac_vehicle_unified_agent_sim.py
@@ -0,0 +1,248 @@
+#!/usr/bin/env python3
+"""统一车端 agent 仿真。
+
+该进程模拟真实 Windows 小车车端电脑：对车间工控机只暴露一个 WiFi6/TCP
+入口端口，所有底盘、运控、外部真值位姿和传感器请求都通过 frame_type 分发。
+"""
+
+from __future__ import annotations
+
+import argparse
+import importlib.util
+import json
+import socket
+import socketserver
+import struct
+import sys
+import threading
+from pathlib import Path
+from types import ModuleType
+from typing import Any
+
+import rclpy
+from rclpy.executors import MultiThreadedExecutor
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[3]
+
+
+def load_module(name: str, path: Path) -> ModuleType:
+    spec = importlib.util.spec_from_file_location(name, path)
+    if spec is None or spec.loader is None:
+        raise ImportError(f"无法加载模块: {path}")
+    module = importlib.util.module_from_spec(spec)
+    sys.modules[name] = module
+    spec.loader.exec_module(module)
+    return module
+
+
+vehicle_mod = load_module(
+    "isaac_vehicle_agent_sim_module",
+    PROJECT_ROOT / "src" / "simulation" / "vehicle_agent_sim" / "scripts" / "isaac_vehicle_agent_sim.py",
+)
+sensor_mod = load_module(
+    "isaac_vehicle_sensor_agent_sim_module",
+    PROJECT_ROOT / "src" / "simulation" / "vehicle_sensor_agent_sim" / "scripts" / "isaac_vehicle_sensor_agent_sim.py",
+)
+
+
+VEHICLE_REQUEST_TYPES = {
+    vehicle_mod.CHASSIS_GET_READINESS_REQ,
+    vehicle_mod.CHASSIS_MOTION_PRIMITIVE_REQ,
+    vehicle_mod.CHASSIS_EMERGENCY_BRAKE_REQ,
+    vehicle_mod.CONTROL_GET_READINESS_REQ,
+    vehicle_mod.CONTROL_EVALUATION_REQ,
+    vehicle_mod.EXTERNAL_POSE_PUSH_REQ,
+}
+
+SENSOR_REQUEST_TYPES = {
+    sensor_mod.SENSOR_GET_READINESS_REQ,
+    sensor_mod.SENSOR_GET_LATEST_FRAME_REQ,
+    sensor_mod.SENSOR_LIST_SENSORS_REQ,
+}
+
+
+def recv_exactly(conn: socket.socket, size: int) -> bytes:
+    data = b""
+    while len(data) < size:
+        chunk = conn.recv(size - len(data))
+        if not chunk:
+            raise ConnectionError("连接提前关闭")
+        data += chunk
+    return data
+
+
+def read_frame(conn: socket.socket) -> tuple[int, dict[str, Any]]:
+    header = recv_exactly(conn, 8)
+    msg_type, payload_len = struct.unpack("<II", header)
+    raw = recv_exactly(conn, payload_len).decode("utf-8") if payload_len else "{}"
+    return msg_type, json.loads(raw)
+
+
+def send_frame(conn: socket.socket, msg_type: int, payload: dict[str, Any]) -> None:
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+
+
+def error_payload(message: str) -> dict[str, Any]:
+    return {
+        "success": False,
+        "error_code": {"code": vehicle_mod.ERROR_INVALID_ARGUMENT},
+        "message": message,
+    }
+
+
+class UnifiedVehicleAgent:
+    def __init__(self, args: argparse.Namespace) -> None:
+        self.args = args
+        self.vehicle_agent = vehicle_mod.IsaacVehicleAgentSim(args)
+        self.sensor_agent = sensor_mod.IsaacVehicleSensorAgentSim(args)
+
+    def handle_vehicle_request(self, msg_type: int, payload: dict[str, Any]) -> tuple[int, dict[str, Any]]:
+        if msg_type == vehicle_mod.CHASSIS_GET_READINESS_REQ:
+            return vehicle_mod.CHASSIS_GET_READINESS_RSP, self.vehicle_agent.readiness_payload("chassis")
+        if msg_type == vehicle_mod.CHASSIS_MOTION_PRIMITIVE_REQ:
+            return vehicle_mod.CHASSIS_MOTION_PRIMITIVE_RSP, self.vehicle_agent.handle_motion_primitive(payload)
+        if msg_type == vehicle_mod.CHASSIS_EMERGENCY_BRAKE_REQ:
+            self.vehicle_agent.stop()
+            return vehicle_mod.CHASSIS_EMERGENCY_BRAKE_RSP, {
+                "success": True,
+                "error_code": {"code": vehicle_mod.ERROR_OK},
+                "message": "Isaac simulated brake executed.",
+            }
+        if msg_type == vehicle_mod.CONTROL_GET_READINESS_REQ:
+            return vehicle_mod.CONTROL_GET_READINESS_RSP, self.vehicle_agent.readiness_payload("control")
+        if msg_type == vehicle_mod.CONTROL_EVALUATION_REQ:
+            return vehicle_mod.CONTROL_EVALUATION_RSP, self.vehicle_agent.handle_control_evaluation(payload)
+        if msg_type == vehicle_mod.EXTERNAL_POSE_PUSH_REQ:
+            return vehicle_mod.EXTERNAL_POSE_PUSH_RSP, self.vehicle_agent.handle_external_pose_push(payload)
+        return 0, error_payload(f"unsupported vehicle msg_type={msg_type}")
+
+    def handle_request(self, msg_type: int, payload: dict[str, Any]) -> tuple[int, dict[str, Any]]:
+        if msg_type in VEHICLE_REQUEST_TYPES:
+            return self.handle_vehicle_request(msg_type, payload)
+        if msg_type in SENSOR_REQUEST_TYPES:
+            return self.sensor_agent.handle_request(msg_type, payload)
+        return 0, error_payload(f"unsupported unified vehicle frame_type={msg_type}")
+
+    def stop(self) -> None:
+        self.vehicle_agent.stop()
+
+
+class UnifiedTcpHandler(socketserver.BaseRequestHandler):
+    def handle(self) -> None:
+        agent: UnifiedVehicleAgent = self.server.agent
+        try:
+            msg_type, payload = read_frame(self.request)
+            response_type, response_payload = agent.handle_request(msg_type, payload)
+        except Exception as exc:
+            response_type = 0
+            response_payload = error_payload(str(exc))
+        send_frame(self.request, response_type, response_payload)
+
+
+class ThreadingTcpServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
+    allow_reuse_address = True
+    daemon_threads = True
+
+
+def build_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(description="Isaac 统一车端 agent 仿真")
+    parser.add_argument("--vehicle-id", default="demo_agv_001")
+    parser.add_argument("--bind-host", default="0.0.0.0")
+    parser.add_argument("--vehicle-port", type=int, default=9000)
+    parser.add_argument("--cmd-vel-topic", default="/vehicle/demo_agv_001/actuator/cmd_vel")
+    parser.add_argument("--external-pose-topic", default="/isaac/external_localization/telemetry")
+    parser.add_argument(
+        "--external-pose-transport",
+        choices=["ros_topic", "wifi6_tcp", "both"],
+        default="wifi6_tcp",
+        help="外部真值位姿输入方式；统一车端仿真默认只通过 WiFi6/TCP",
+    )
+    parser.add_argument("--external-pose-port", type=int, default=9000)
+    parser.add_argument("--external-pose-min-quality", type=float, default=0.1)
+    parser.add_argument("--chassis-telemetry-topic", default="/chassis/telemetry")
+    parser.add_argument("--allow-chassis-pose-fallback", action="store_true")
+    parser.add_argument("--publish-hz", type=float, default=20.0)
+    parser.add_argument("--max-speed-mps", type=float, default=0.3)
+    parser.add_argument("--wheel-base-m", type=float, default=0.80)
+    parser.add_argument("--max-steering-angle-rad", type=float, default=0.60)
+    parser.add_argument("--internal-command-timeout-sec", type=float, default=0.5)
+    parser.add_argument("--internal-ackermann-command-topic", default="/vehicle/demo_agv_001/internal/ackermann_cmd")
+    parser.add_argument("--internal-state-topic", default="/vehicle/demo_agv_001/internal/state")
+    parser.add_argument("--internal-health-topic", default="/vehicle/demo_agv_001/internal/health")
+    parser.add_argument("--internal-time-sync-topic", default="/vehicle/demo_agv_001/internal/time_sync_status")
+    parser.add_argument("--max-angular-speed-rps", type=float, default=1.2)
+    parser.add_argument("--max-motion-duration-sec", type=float, default=60.0)
+    parser.add_argument("--pose-wait-timeout-sec", type=float, default=2.0)
+    parser.add_argument("--pose-stale-timeout-sec", type=float, default=0.5)
+    parser.add_argument("--trajectory-lookahead-m", type=float, default=0.45)
+    parser.add_argument("--trajectory-goal-tolerance-m", type=float, default=0.08)
+    parser.add_argument("--trajectory-slowdown-radius-m", type=float, default=0.5)
+    parser.add_argument("--trajectory-slowdown-gain", type=float, default=0.8)
+    parser.add_argument("--default-tracking-speed-mps", type=float, default=0.12)
+    parser.add_argument("--min-tracking-speed-mps", type=float, default=0.03)
+    parser.add_argument("--trajectory-max-rms-lateral-error-m", type=float, default=0.20)
+    parser.add_argument("--trajectory-max-rms-heading-error-rad", type=float, default=0.60)
+
+    parser.add_argument("--max-frame-payload-bytes", type=int, default=262144)
+    parser.add_argument("--frame-stale-timeout-sec", type=float, default=1.0)
+    parser.add_argument("--enabled-sensor-ids", nargs="*", default=[], help="只启用指定 sensor_id；默认启用全部")
+    parser.add_argument("--sensor-link-status-topic", default="/vehicle/demo_agv_001/internal/sensor_link_status")
+    parser.add_argument("--front-camera-sensor-id", default="demo_front_camera")
+    parser.add_argument("--down-camera-sensor-id", default="demo_down_camera")
+    parser.add_argument("--lidar-3d-sensor-id", default="demo_lidar_3d")
+    parser.add_argument("--lidar-2d-sensor-id", default="demo_lidar_2d")
+    parser.add_argument("--imu-sensor-id", default="demo_imu")
+    parser.add_argument("--front-camera-topic", default="/sensor/front_camera/image_raw")
+    parser.add_argument("--down-camera-topic", default="/sensor/down_camera/image_raw")
+    parser.add_argument("--lidar-3d-topic", default="/sensor/lidar_3d/pointcloud")
+    parser.add_argument("--lidar-2d-topic", default="/sensor/lidar_2d/scan")
+    parser.add_argument("--imu-topic", default="/sensor/imu/data")
+    return parser
+
+
+def main() -> int:
+    args = build_parser().parse_args()
+    rclpy.init(args=None)
+    agent = UnifiedVehicleAgent(args)
+    server = None
+    executor = MultiThreadedExecutor()
+    executor.add_node(agent.vehicle_agent.node)
+    executor.add_node(agent.sensor_agent.node)
+    try:
+        server = ThreadingTcpServer((args.bind_host, args.vehicle_port), UnifiedTcpHandler)
+        server.agent = agent
+        threading.Thread(target=server.serve_forever, daemon=True).start()
+        print(f"[*] unified vehicle agent sim listening on {args.bind_host}:{args.vehicle_port}")
+        print(f"[*] publishing private actuator commands to {args.cmd_vel_topic}")
+        print("[*] subscribed vehicle sensor topics:")
+        for sensor in agent.sensor_agent.sensors.values():
+            print(f"  - {sensor.sensor_id}: {sensor.topic}")
+        while rclpy.ok():
+            executor.spin_once(timeout_sec=0.1)
+    except OSError as exc:
+        print(f"[ERROR] unified vehicle agent network startup failed: {exc}")
+        return 1
+    except KeyboardInterrupt:
+        print("[*] unified vehicle agent shutdown requested.")
+    finally:
+        if server is not None:
+            server.shutdown()
+            server.server_close()
+        try:
+            if rclpy.ok():
+                agent.stop()
+        except Exception as exc:
+            print(f"[WARN] unified vehicle agent stop during shutdown failed: {exc}")
+        executor.remove_node(agent.vehicle_agent.node)
+        executor.remove_node(agent.sensor_agent.node)
+        agent.vehicle_agent.node.destroy_node()
+        agent.sensor_agent.node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/tools/launch_sim_stack.py b/agv_calib_brain/src/simulation/tools/launch_sim_stack.py
new file mode 100755
index 0000000..f71b908
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/launch_sim_stack.py
@@ -0,0 +1,358 @@
+#!/usr/bin/env python3
+"""Launch the Isaac workshop simulation stack from a deployment profile."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import shlex
+import signal
+import subprocess
+import sys
+import time
+from pathlib import Path
+from typing import Iterable
+
+from sim_profile import PROJECT_ROOT, as_float, as_int, get_nested, load_profile, repo_path, validate_sim_profile
+
+
+def with_workspace_setup(command: list[str]) -> list[str]:
+    setup_file = PROJECT_ROOT / "install" / "setup.bash"
+    if setup_file.exists():
+        return ["bash", "-lc", f"source {shlex.quote(str(setup_file))} && {shlex.join(command)}"]
+    return command
+
+
+def build_vehicle_agent_command(profile: dict, python_executable: str) -> list[str]:
+    gateway = profile["workshop_pc"]["gateway"]
+    vehicle_agent = profile["vehicle_agent"]
+    sensor_agent = profile.get("vehicle_sensor_agent", {})
+    command = [
+        python_executable,
+        str(PROJECT_ROOT / "src" / "simulation" / "tools" / "isaac_vehicle_unified_agent_sim.py"),
+        "--vehicle-id",
+        str(profile["vehicle_id"]),
+        "--bind-host",
+        str(vehicle_agent.get("bind_host", "0.0.0.0")),
+        "--vehicle-port",
+        str(as_int(gateway.get("vehicle_port", 9000), "workshop_pc.gateway.vehicle_port")),
+        "--cmd-vel-topic",
+        str(vehicle_agent["private_cmd_vel_topic"]),
+        "--external-pose-topic",
+        str(vehicle_agent.get("external_pose_topic", "/isaac/external_localization/telemetry")),
+        "--external-pose-transport",
+        str(vehicle_agent.get("external_pose_transport", "both")),
+        "--chassis-telemetry-topic",
+        str(vehicle_agent.get("chassis_telemetry_topic", "/chassis/telemetry")),
+        "--max-speed-mps",
+        str(as_float(get_nested(profile, "safety.max_speed_mps", 0.3), "safety.max_speed_mps")),
+        "--wheel-base-m",
+        str(as_float(get_nested(profile, "vehicle_agent.wheel_base_m", 0.8), "vehicle_agent.wheel_base_m")),
+        "--max-steering-angle-rad",
+        str(as_float(get_nested(profile, "vehicle_agent.max_steering_angle_rad", 0.6), "vehicle_agent.max_steering_angle_rad")),
+        "--internal-command-timeout-sec",
+        str(as_float(get_nested(profile, "vehicle_agent.internal_command_timeout_sec", 0.5), "vehicle_agent.internal_command_timeout_sec")),
+        "--internal-ackermann-command-topic",
+        str(vehicle_agent.get("internal_ackermann_command_topic", f"/vehicle/{profile['vehicle_id']}/internal/ackermann_cmd")),
+        "--internal-state-topic",
+        str(vehicle_agent.get("internal_state_topic", f"/vehicle/{profile['vehicle_id']}/internal/state")),
+        "--internal-health-topic",
+        str(vehicle_agent.get("internal_health_topic", f"/vehicle/{profile['vehicle_id']}/internal/health")),
+        "--internal-time-sync-topic",
+        str(vehicle_agent.get("internal_time_sync_topic", f"/vehicle/{profile['vehicle_id']}/internal/time_sync_status")),
+        "--max-frame-payload-bytes",
+        str(as_int(sensor_agent.get("max_frame_payload_bytes", 262144), "vehicle_sensor_agent.max_frame_payload_bytes")),
+        "--front-camera-sensor-id",
+        str(sensor_agent.get("front_camera_sensor_id", "demo_front_camera")),
+        "--down-camera-sensor-id",
+        str(sensor_agent.get("down_camera_sensor_id", "demo_down_camera")),
+        "--lidar-3d-sensor-id",
+        str(sensor_agent.get("lidar_3d_sensor_id", "demo_lidar_3d")),
+        "--lidar-2d-sensor-id",
+        str(sensor_agent.get("lidar_2d_sensor_id", "demo_lidar_2d")),
+        "--imu-sensor-id",
+        str(sensor_agent.get("imu_sensor_id", "demo_imu")),
+        "--front-camera-topic",
+        str(sensor_agent.get("front_camera_topic", "/sensor/front_camera/image_raw")),
+        "--down-camera-topic",
+        str(sensor_agent.get("down_camera_topic", "/sensor/down_camera/image_raw")),
+        "--lidar-3d-topic",
+        str(sensor_agent.get("lidar_3d_topic", "/sensor/lidar_3d/pointcloud")),
+        "--lidar-2d-topic",
+        str(sensor_agent.get("lidar_2d_topic", "/sensor/lidar_2d/scan")),
+        "--imu-topic",
+        str(sensor_agent.get("imu_topic", "/sensor/imu/data")),
+        "--sensor-link-status-topic",
+        str(sensor_agent.get("sensor_link_status_topic", f"/vehicle/{profile['vehicle_id']}/internal/sensor_link_status")),
+    ]
+    return with_workspace_setup(command)
+
+
+def build_vehicle_sensor_agent_command(profile: dict, python_executable: str) -> list[str]:
+    gateway = profile["workshop_pc"]["gateway"]
+    sensor_agent = profile.get("vehicle_sensor_agent", {})
+    command = [
+        python_executable,
+        str(PROJECT_ROOT / "src" / "simulation" / "vehicle_sensor_agent_sim" / "scripts" / "isaac_vehicle_sensor_agent_sim.py"),
+        "--bind-host",
+        str(sensor_agent.get("bind_host", "0.0.0.0")),
+        "--sensor-port",
+        str(as_int(gateway.get("sensor_port", 9003), "workshop_pc.gateway.sensor_port")),
+        "--max-frame-payload-bytes",
+        str(as_int(sensor_agent.get("max_frame_payload_bytes", 262144), "vehicle_sensor_agent.max_frame_payload_bytes")),
+        "--front-camera-sensor-id",
+        str(sensor_agent.get("front_camera_sensor_id", "demo_front_camera")),
+        "--down-camera-sensor-id",
+        str(sensor_agent.get("down_camera_sensor_id", "demo_down_camera")),
+        "--lidar-3d-sensor-id",
+        str(sensor_agent.get("lidar_3d_sensor_id", "demo_lidar_3d")),
+        "--lidar-2d-sensor-id",
+        str(sensor_agent.get("lidar_2d_sensor_id", "demo_lidar_2d")),
+        "--imu-sensor-id",
+        str(sensor_agent.get("imu_sensor_id", "demo_imu")),
+        "--front-camera-topic",
+        str(sensor_agent.get("front_camera_topic", "/sensor/front_camera/image_raw")),
+        "--down-camera-topic",
+        str(sensor_agent.get("down_camera_topic", "/sensor/down_camera/image_raw")),
+        "--lidar-3d-topic",
+        str(sensor_agent.get("lidar_3d_topic", "/sensor/lidar_3d/pointcloud")),
+        "--lidar-2d-topic",
+        str(sensor_agent.get("lidar_2d_topic", "/sensor/lidar_2d/scan")),
+        "--imu-topic",
+        str(sensor_agent.get("imu_topic", "/sensor/imu/data")),
+        "--sensor-link-status-topic",
+        str(sensor_agent.get("sensor_link_status_topic", f"/vehicle/{profile['vehicle_id']}/internal/sensor_link_status")),
+    ]
+    return with_workspace_setup(command)
+
+
+def build_vehicle_wifi6_gateway_command(profile: dict, python_executable: str) -> list[str]:
+    gateway = profile["workshop_pc"]["gateway"]
+    command = [
+        python_executable,
+        str(PROJECT_ROOT / "src" / "simulation" / "tools" / "vehicle_wifi6_gateway_sim.py"),
+        "--bind-host",
+        str(gateway.get("vehicle_bind_host", "0.0.0.0")),
+        "--vehicle-port",
+        str(as_int(gateway.get("vehicle_port", 9000), "workshop_pc.gateway.vehicle_port")),
+        "--timeout-sec",
+        str(as_float(gateway.get("timeout_ms", 5000), "workshop_pc.gateway.timeout_ms") / 1000.0),
+        "--chassis-host",
+        str(gateway.get("chassis_host", "127.0.0.1")),
+        "--chassis-port",
+        str(as_int(gateway.get("chassis_port", 9001), "workshop_pc.gateway.chassis_port")),
+        "--control-host",
+        str(gateway.get("control_host", "127.0.0.1")),
+        "--control-port",
+        str(as_int(gateway.get("control_port", 9002), "workshop_pc.gateway.control_port")),
+        "--sensor-host",
+        str(gateway.get("sensor_host", "127.0.0.1")),
+        "--sensor-port",
+        str(as_int(gateway.get("sensor_port", 9003), "workshop_pc.gateway.sensor_port")),
+        "--external-pose-host",
+        str(gateway.get("external_pose_host", "127.0.0.1")),
+        "--external-pose-port",
+        str(as_int(gateway.get("external_pose_port", 9004), "workshop_pc.gateway.external_pose_port")),
+    ]
+    return with_workspace_setup(command)
+
+
+def build_external_pose_bridge_command(profile: dict, python_executable: str) -> list[str]:
+    gateway = profile["workshop_pc"]["gateway"]
+    bridge = profile.get("external_pose_bridge", {})
+    command = [
+        python_executable,
+        str(PROJECT_ROOT / "src" / "simulation" / "tools" / "external_pose_wifi6_bridge.py"),
+        "--source-topic",
+        str(bridge.get("source_topic", get_nested(profile, "vehicle_agent.external_pose_topic", "/isaac/external_localization/telemetry"))),
+        "--vehicle-host",
+        str(gateway.get("vehicle_host", "127.0.0.1")),
+        "--vehicle-port",
+        str(as_int(gateway.get("vehicle_port", 9000), "workshop_pc.gateway.vehicle_port")),
+        "--reference-source-name",
+        str(bridge.get("reference_source_name", "isaac_external_truth")),
+        "--max-hz",
+        str(as_float(bridge.get("max_hz", 30.0), "external_pose_bridge.max_hz")),
+        "--timeout-sec",
+        str(as_float(gateway.get("timeout_ms", 5000), "workshop_pc.gateway.timeout_ms") / 1000.0),
+    ]
+    return with_workspace_setup(command)
+
+
+def build_workshop_sensor_ingest_command(profile: dict, python_executable: str) -> list[str]:
+    gateway = profile["workshop_pc"]["gateway"]
+    ingest = profile.get("workshop_sensor_ingest", {})
+    command = [
+        python_executable,
+        str(PROJECT_ROOT / "src" / "simulation" / "tools" / "workshop_sensor_ingest_sim.py"),
+        "--sensor-host",
+        str(gateway.get("vehicle_host", "127.0.0.1")),
+        "--sensor-port",
+        str(as_int(gateway.get("vehicle_port", 9000), "workshop_pc.gateway.vehicle_port")),
+        "--publish-prefix",
+        str(ingest.get("publish_prefix", "/workshop/vehicle_sensor")),
+        "--poll-hz",
+        str(as_float(ingest.get("poll_hz", 15.0), "workshop_sensor_ingest.poll_hz")),
+        "--max-payload-bytes",
+        str(as_int(ingest.get("max_payload_bytes", 4194304), "workshop_sensor_ingest.max_payload_bytes")),
+        "--timeout-sec",
+        str(as_float(gateway.get("timeout_ms", 5000), "workshop_pc.gateway.timeout_ms") / 1000.0),
+    ]
+    return with_workspace_setup(command)
+
+
+def build_isaac_command(profile: dict, python_executable: str, headless: bool, extra_args: Iterable[str]) -> list[str]:
+    isaac = profile["isaac"]
+    targets = profile.get("targets", {})
+    down_camera = targets.get("down_camera_charuco", {})
+    command = [
+        python_executable,
+        str(repo_path(isaac["scene_script"])),
+        "--vehicle-id",
+        str(profile["vehicle_id"]),
+        "--cmd-vel-topic",
+        str(isaac["cmd_vel_topic"]),
+        "--vehicle-camera-topic",
+        str(get_nested(profile, "vehicle_sensor_agent.front_camera_topic", "/sensor/front_camera/image_raw")),
+        "--down-camera-topic",
+        str(get_nested(profile, "vehicle_sensor_agent.down_camera_topic", "/sensor/down_camera/image_raw")),
+        "--vehicle-lidar-topic",
+        str(get_nested(profile, "vehicle_sensor_agent.lidar_3d_topic", "/sensor/lidar_3d/pointcloud")),
+        "--vehicle-2d-lidar-topic",
+        str(get_nested(profile, "vehicle_sensor_agent.lidar_2d_topic", "/sensor/lidar_2d/scan")),
+        "--vehicle-imu-topic",
+        str(get_nested(profile, "vehicle_sensor_agent.imu_topic", "/sensor/imu/data")),
+        "--scene-manifest-path",
+        str(repo_path(isaac["scene_manifest_path"])),
+    ]
+    if headless:
+        command.append("--headless")
+    if down_camera.get("squares_x") is not None:
+        command.extend(["--down-camera-target-squares-x", str(down_camera["squares_x"])])
+    if down_camera.get("squares_y") is not None:
+        command.extend(["--down-camera-target-squares-y", str(down_camera["squares_y"])])
+    command.extend(extra_args)
+    return with_workspace_setup(command)
+
+
+def build_gateway_command(profile: dict) -> list[str]:
+    gateway = profile["workshop_pc"]["gateway"]
+    launch_args = [
+        "ros2",
+        "launch",
+        "vehicle_agent_gateway",
+        "vehicle_agent_gateway.launch.py",
+        f"chassis_host:={gateway['vehicle_host']}",
+        f"chassis_port:={gateway['vehicle_port']}",
+        f"chassis_timeout_ms:={gateway.get('timeout_ms', 5000)}",
+        f"control_host:={gateway['vehicle_host']}",
+        f"control_port:={gateway['vehicle_port']}",
+        f"control_timeout_ms:={gateway.get('timeout_ms', 5000)}",
+    ]
+    return with_workspace_setup(launch_args)
+
+
+def print_command(name: str, command: list[str]) -> None:
+    print(f"[{name}] {shlex.join(command)}")
+
+
+def terminate_processes(processes: list[subprocess.Popen]) -> None:
+    for process in processes:
+        if process.poll() is None:
+            process.terminate()
+    deadline = time.monotonic() + 5.0
+    for process in processes:
+        while process.poll() is None and time.monotonic() < deadline:
+            time.sleep(0.1)
+        if process.poll() is None:
+            process.kill()
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="按仿真 profile 启动 Isaac 标定车间链路")
+    parser.add_argument("--profile", default="", help="仿真 profile 路径，默认使用 src/deployment/profiles/sim_workshop.yaml")
+    parser.add_argument(
+        "--component",
+        choices=[
+            "all",
+            "vehicle-agent",
+            "sensor-agent",
+            "wifi6-gateway",
+            "external-pose-bridge",
+            "sensor-ingest",
+            "gateway",
+            "isaac",
+        ],
+        default="all",
+        help="只启动某个组件，默认启动全部",
+    )
+    parser.add_argument("--python", default=sys.executable, help="用于启动 Python 脚本的解释器")
+    parser.add_argument("--headless", action="store_true", help="以 headless 模式启动 Isaac")
+    parser.add_argument("--dry-run", action="store_true", help="只打印命令，不启动进程")
+    parser.add_argument(
+        "--isaac-arg",
+        action="append",
+        default=[],
+        help="额外透传给 build_calibration_room.py 的参数，可重复传入",
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    profile = load_profile(args.profile or None)
+    validate_sim_profile(profile)
+
+    commands: list[tuple[str, list[str]]] = []
+    if args.component in ("all", "vehicle-agent"):
+        commands.append(("vehicle-agent", build_vehicle_agent_command(profile, args.python)))
+    if args.component == "sensor-agent":
+        commands.append(("sensor-agent", build_vehicle_sensor_agent_command(profile, args.python)))
+    if args.component == "wifi6-gateway":
+        commands.append(("wifi6-gateway", build_vehicle_wifi6_gateway_command(profile, args.python)))
+    if args.component in ("all", "external-pose-bridge"):
+        commands.append(("external-pose-bridge", build_external_pose_bridge_command(profile, args.python)))
+    if args.component in ("all", "sensor-ingest"):
+        commands.append(("sensor-ingest", build_workshop_sensor_ingest_command(profile, args.python)))
+    if args.component in ("all", "gateway"):
+        commands.append(("gateway", build_gateway_command(profile)))
+    if args.component in ("all", "isaac"):
+        commands.append(("isaac", build_isaac_command(profile, args.python, args.headless, args.isaac_arg)))
+
+    for name, command in commands:
+        print_command(name, command)
+    if args.dry_run:
+        return 0
+
+    env = os.environ.copy()
+    processes: list[subprocess.Popen] = []
+
+    def handle_signal(signum, _frame):
+        print(f"\n收到信号 {signum}，正在停止仿真栈...")
+        terminate_processes(processes)
+        raise SystemExit(128 + signum)
+
+    signal.signal(signal.SIGINT, handle_signal)
+    signal.signal(signal.SIGTERM, handle_signal)
+
+    try:
+        for name, command in commands:
+            print(f"[*] 启动 {name}")
+            processes.append(subprocess.Popen(command, cwd=PROJECT_ROOT, env=env))
+            time.sleep(0.8)
+
+        while processes:
+            for process in processes:
+                return_code = process.poll()
+                if return_code is not None:
+                    print(f"[WARN] 子进程退出: pid={process.pid}, return_code={return_code}")
+                    terminate_processes(processes)
+                    return return_code
+            time.sleep(0.5)
+    finally:
+        terminate_processes(processes)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/tools/sim_profile.py b/agv_calib_brain/src/simulation/tools/sim_profile.py
new file mode 100755
index 0000000..ca88f07
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/sim_profile.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+"""Shared helpers for simulation profiles."""
+
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+import yaml
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[3]
+DEFAULT_PROFILE = PROJECT_ROOT / "src" / "deployment" / "profiles" / "sim_workshop.yaml"
+
+
+def load_profile(profile_path: str | Path | None = None) -> dict[str, Any]:
+    path = Path(profile_path).expanduser().resolve() if profile_path else DEFAULT_PROFILE
+    if not path.exists():
+        raise FileNotFoundError(f"未找到仿真 profile: {path}")
+
+    with path.open("r", encoding="utf-8") as fp:
+        profile = yaml.safe_load(fp) or {}
+
+    if not isinstance(profile, dict):
+        raise ValueError(f"profile 顶层必须是 dict: {path}")
+    if profile.get("mode") != "sim":
+        raise ValueError(f"profile mode 必须是 sim，当前为: {profile.get('mode')!r}")
+    return profile
+
+
+def get_nested(data: dict[str, Any], path: str, default: Any = None) -> Any:
+    current: Any = data
+    for part in path.split("."):
+        if not isinstance(current, dict) or part not in current:
+            return default
+        current = current[part]
+    return current
+
+
+def require_nested(data: dict[str, Any], path: str) -> Any:
+    value = get_nested(data, path)
+    if value is None:
+        raise KeyError(f"profile 缺少字段: {path}")
+    return value
+
+
+def repo_path(value: str | Path) -> Path:
+    path = Path(value).expanduser()
+    return path if path.is_absolute() else PROJECT_ROOT / path
+
+
+def as_int(value: Any, field_name: str) -> int:
+    try:
+        return int(value)
+    except (TypeError, ValueError) as exc:
+        raise ValueError(f"{field_name} 必须是整数，当前为: {value!r}") from exc
+
+
+def as_float(value: Any, field_name: str) -> float:
+    try:
+        return float(value)
+    except (TypeError, ValueError) as exc:
+        raise ValueError(f"{field_name} 必须是数字，当前为: {value!r}") from exc
+
+
+def validate_sim_profile(profile: dict[str, Any]) -> None:
+    required_fields = [
+        "vehicle_id",
+        "workshop_pc.gateway.vehicle_host",
+        "workshop_pc.gateway.vehicle_port",
+        "vehicle_agent.private_cmd_vel_topic",
+        "isaac.scene_script",
+        "isaac.scene_manifest_path",
+        "isaac.cmd_vel_topic",
+        "safety.max_speed_mps",
+    ]
+    for field in required_fields:
+        require_nested(profile, field)
+
+    scene_script = repo_path(require_nested(profile, "isaac.scene_script"))
+    if not scene_script.exists():
+        raise FileNotFoundError(f"Isaac 场景脚本不存在: {scene_script}")
+
+    agent_topic = require_nested(profile, "vehicle_agent.private_cmd_vel_topic")
+    isaac_topic = require_nested(profile, "isaac.cmd_vel_topic")
+    if agent_topic != isaac_topic:
+        raise ValueError(
+            "vehicle_agent.private_cmd_vel_topic 必须与 isaac.cmd_vel_topic 一致，"
+            f"当前为 {agent_topic!r} vs {isaac_topic!r}"
+        )
+
+    vehicle_port = as_int(require_nested(profile, "workshop_pc.gateway.vehicle_port"), "vehicle_port")
+    if not 1 <= vehicle_port <= 65535:
+        raise ValueError(f"vehicle_port 超出端口范围: {vehicle_port}")
+
+    max_speed = as_float(require_nested(profile, "safety.max_speed_mps"), "safety.max_speed_mps")
+    if max_speed <= 0.0:
+        raise ValueError("safety.max_speed_mps 必须大于 0")
diff --git a/agv_calib_brain/src/simulation/tools/smoke_test_vehicle_agent.py b/agv_calib_brain/src/simulation/tools/smoke_test_vehicle_agent.py
new file mode 100755
index 0000000..1eee39e
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/smoke_test_vehicle_agent.py
@@ -0,0 +1,354 @@
+#!/usr/bin/env python3
+"""TCP smoke test for the simulated vehicle-side agent."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import struct
+import sys
+import threading
+import time
+from typing import Any
+
+from sim_profile import as_float, as_int, get_nested, load_profile, validate_sim_profile
+
+
+CHASSIS_GET_READINESS_REQ = 1
+CHASSIS_GET_READINESS_RSP = 2
+CHASSIS_MOTION_PRIMITIVE_REQ = 3
+CHASSIS_MOTION_PRIMITIVE_RSP = 4
+CHASSIS_EMERGENCY_BRAKE_REQ = 5
+CHASSIS_EMERGENCY_BRAKE_RSP = 6
+CONTROL_GET_READINESS_REQ = 11
+CONTROL_GET_READINESS_RSP = 12
+CONTROL_EVALUATION_REQ = 13
+CONTROL_EVALUATION_RSP = 14
+EXTERNAL_POSE_PUSH_REQ = 31
+EXTERNAL_POSE_PUSH_RSP = 32
+
+
+def now_us() -> int:
+    return int(time.time() * 1_000_000)
+
+
+def recv_exactly(conn: socket.socket, size: int) -> bytes:
+    data = b""
+    while len(data) < size:
+        chunk = conn.recv(size - len(data))
+        if not chunk:
+            raise ConnectionError("连接提前关闭")
+        data += chunk
+    return data
+
+
+def send_request(host: str, port: int, msg_type: int, payload: dict[str, Any], timeout_sec: float) -> tuple[int, dict[str, Any]]:
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    with socket.create_connection((host, port), timeout=timeout_sec) as conn:
+        conn.settimeout(timeout_sec)
+        conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+        header = recv_exactly(conn, 8)
+        rsp_type, payload_len = struct.unpack("<II", header)
+        raw_payload = recv_exactly(conn, payload_len) if payload_len else b"{}"
+    return rsp_type, json.loads(raw_payload.decode("utf-8"))
+
+
+def assert_success(name: str, expected_type: int, actual_type: int, payload: dict[str, Any]) -> None:
+    if actual_type != expected_type:
+        raise AssertionError(f"{name}: 响应类型错误，期望 {expected_type}，实际 {actual_type}")
+    if not payload.get("success", False):
+        raise AssertionError(f"{name}: success=false, payload={payload}")
+    print(f"[PASS] {name}: {payload.get('message', '')}")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="仿真车端 TCP 接口快速验收")
+    parser.add_argument("--profile", default="", help="仿真 profile 路径")
+    parser.add_argument("--host", default="", help="覆盖 profile 中的车端 host")
+    parser.add_argument("--timeout-sec", type=float, default=5.0)
+    parser.add_argument("--motion", action="store_true", help="发送一个小距离直线动作，默认不动车")
+    parser.add_argument("--control-eval", action="store_true", help="发送一个短时速度阶跃运控评估任务")
+    parser.add_argument("--trajectory", action="store_true", help="发送一个短轨迹跟踪任务")
+    parser.add_argument("--split-trajectory", action="store_true", help="把短轨迹拆成两段下发，验证分段缓存和最终拼接执行")
+    parser.add_argument("--fake-telemetry", action="store_true", help="发布一段假的外部真值和底盘遥测，用于无 Isaac 时测试轨迹接口")
+    parser.add_argument("--distance-m", type=float, default=0.20)
+    parser.add_argument("--speed-mps", type=float, default=0.10)
+    parser.add_argument("--skip-brake", action="store_true", help="跳过急停接口测试")
+    return parser.parse_args()
+
+
+def start_fake_vehicle_feedback(
+    external_pose_topic: str,
+    chassis_topic: str,
+    x_m: float,
+    y_m: float,
+    yaw_rad: float,
+    external_pose_tcp_host: str = "",
+    external_pose_tcp_port: int = 0,
+    external_pose_tcp_timeout_sec: float = 0.2,
+) -> tuple[threading.Event, threading.Thread]:
+    import rclpy
+    from calibration_chassis_interfaces.msg import ChassisTelemetry
+    from calibration_external_localization_interfaces.msg import ExternalLocalizationTelemetry
+
+    stop_event = threading.Event()
+
+    def run() -> None:
+        if not rclpy.ok():
+            rclpy.init(args=None)
+        node = rclpy.create_node("vehicle_agent_smoke_fake_vehicle_feedback")
+        external_publisher = node.create_publisher(ExternalLocalizationTelemetry, external_pose_topic, 10)
+        chassis_publisher = node.create_publisher(ChassisTelemetry, chassis_topic, 10)
+        try:
+            while not stop_event.is_set():
+                timestamp_us = now_us()
+
+                pose_msg = ExternalLocalizationTelemetry()
+                pose_msg.hardware_timestamp_us = timestamp_us
+                pose_msg.pose_valid = True
+                pose_msg.workshop_pose.x_m = x_m
+                pose_msg.workshop_pose.y_m = y_m
+                pose_msg.workshop_pose.z_m = 0.0
+                pose_msg.workshop_pose.yaw_rad = yaw_rad
+                pose_msg.position_stddev_m = 0.001
+                pose_msg.yaw_stddev_rad = 0.001
+                pose_msg.tracking_loss_ratio = 0.0
+                pose_msg.time_sync_offset_ms = 1.0
+                pose_msg.quality_score = 1.0
+                pose_msg.observed_target_count = 4
+                pose_msg.reference_source_name = "smoke_fake_external_truth"
+                pose_msg.active_job_id = "vehicle_agent_smoke_fake_pose"
+                external_publisher.publish(pose_msg)
+                if external_pose_tcp_host and external_pose_tcp_port > 0:
+                    try:
+                        send_request(
+                            external_pose_tcp_host,
+                            external_pose_tcp_port,
+                            EXTERNAL_POSE_PUSH_REQ,
+                            {
+                                "hardware_timestamp_us": timestamp_us,
+                                "pose_valid": True,
+                                "workshop_pose": {
+                                    "x_m": x_m,
+                                    "y_m": y_m,
+                                    "z_m": 0.0,
+                                    "roll_rad": 0.0,
+                                    "pitch_rad": 0.0,
+                                    "yaw_rad": yaw_rad,
+                                },
+                                "position_stddev_m": 0.001,
+                                "yaw_stddev_rad": 0.001,
+                                "tracking_loss_ratio": 0.0,
+                                "time_sync_offset_ms": 1.0,
+                                "quality_score": 1.0,
+                                "observed_target_count": 4,
+                                "reference_source_name": "smoke_fake_external_truth",
+                                "active_job_id": "vehicle_agent_smoke_fake_pose",
+                            },
+                            external_pose_tcp_timeout_sec,
+                        )
+                    except Exception:
+                        pass
+
+                chassis_msg = ChassisTelemetry()
+                chassis_msg.hardware_timestamp_us = timestamp_us
+                chassis_msg.odom_x_m = x_m
+                chassis_msg.odom_y_m = y_m
+                chassis_msg.odom_yaw_rad = yaw_rad
+                chassis_msg.linear_velocity_ms = 0.0
+                chassis_msg.angular_velocity_rads = 0.0
+                chassis_msg.estop_engaged = False
+                chassis_msg.driver_error_code = 0
+                chassis_msg.active_job_id = "vehicle_agent_smoke_fake_velocity"
+                chassis_publisher.publish(chassis_msg)
+
+                rclpy.spin_once(node, timeout_sec=0.0)
+                time.sleep(0.05)
+        finally:
+            node.destroy_node()
+            if rclpy.ok():
+                rclpy.shutdown()
+
+    thread = threading.Thread(target=run, daemon=True)
+    thread.start()
+    return stop_event, thread
+
+
+def main() -> int:
+    args = parse_args()
+    profile = load_profile(args.profile or None)
+    validate_sim_profile(profile)
+
+    gateway = profile["workshop_pc"]["gateway"]
+    host = args.host or str(gateway.get("vehicle_host", gateway["chassis_host"]))
+    vehicle_port = as_int(
+        gateway.get("vehicle_port", gateway.get("chassis_port", 9000)),
+        "workshop_pc.gateway.vehicle_port",
+    )
+    vehicle_id = str(profile["vehicle_id"])
+    max_speed = as_float(get_nested(profile, "safety.max_speed_mps", 0.3), "safety.max_speed_mps")
+    speed = min(abs(args.speed_mps), max_speed)
+    external_pose_topic = str(get_nested(profile, "vehicle_agent.external_pose_topic", "/isaac/external_localization/telemetry"))
+    external_pose_transport = str(get_nested(profile, "vehicle_agent.external_pose_transport", "both"))
+    external_pose_tcp_host = str(gateway.get("vehicle_host", gateway.get("control_host", "127.0.0.1")))
+    external_pose_tcp_port = as_int(gateway.get("vehicle_port", 9000), "workshop_pc.gateway.vehicle_port")
+    chassis_topic = str(get_nested(profile, "vehicle_agent.chassis_telemetry_topic", "/chassis/telemetry"))
+    fake_stop = None
+    fake_thread = None
+
+    if args.trajectory and args.fake_telemetry:
+        fake_stop, fake_thread = start_fake_vehicle_feedback(
+            external_pose_topic,
+            chassis_topic,
+            x_m=abs(args.distance_m),
+            y_m=0.0,
+            yaw_rad=0.0,
+            external_pose_tcp_host=external_pose_tcp_host if external_pose_transport in ("wifi6_tcp", "both") else "",
+            external_pose_tcp_port=external_pose_tcp_port if external_pose_transport in ("wifi6_tcp", "both") else 0,
+        )
+        time.sleep(0.2)
+
+    try:
+        chassis_req = {
+            "agent_name": "chassis",
+            "include_details": True,
+            "target_resource_ids": [],
+        }
+        rsp_type, payload = send_request(host, vehicle_port, CHASSIS_GET_READINESS_REQ, chassis_req, args.timeout_sec)
+        assert_success("chassis readiness", CHASSIS_GET_READINESS_RSP, rsp_type, payload)
+
+        control_req = {
+            "agent_name": "control",
+            "include_details": True,
+            "target_resource_ids": [],
+        }
+        rsp_type, payload = send_request(host, vehicle_port, CONTROL_GET_READINESS_REQ, control_req, args.timeout_sec)
+        assert_success("control readiness", CONTROL_GET_READINESS_RSP, rsp_type, payload)
+
+        if args.motion:
+            request_id = f"sim_smoke_straight_{now_us()}"
+            motion_req = {
+                "header": {
+                    "session_id": f"sim_smoke_{now_us()}",
+                    "task_id": "sim_smoke_straight",
+                    "vehicle_id": vehicle_id,
+                    "request_id": request_id,
+                    "client_send_timestamp_us": now_us(),
+                    "operator_id": "sim_smoke",
+                    "workshop_host": "simulation",
+                },
+                "test_case_id": "smoke_straight_line",
+                "task_purpose": 1,
+                "selected_primitive": 1,
+                "brake_when_finished": True,
+                "timeout_sec": max(3.0, args.distance_m / max(speed, 0.01) + 2.0),
+                "source_iteration_id": "smoke_iter_001",
+                "straight_line": {
+                    "target_speed_ms": speed,
+                    "target_distance_m": abs(args.distance_m),
+                    "reverse": False,
+                },
+            }
+            rsp_type, payload = send_request(host, vehicle_port, CHASSIS_MOTION_PRIMITIVE_REQ, motion_req, args.timeout_sec + 10.0)
+            assert_success("chassis straight motion", CHASSIS_MOTION_PRIMITIVE_RSP, rsp_type, payload)
+
+        if args.control_eval:
+            request_id = f"sim_smoke_control_{now_us()}"
+            control_req = {
+                "header": {
+                    "session_id": f"sim_smoke_{now_us()}",
+                    "task_id": "sim_smoke_velocity_step",
+                    "vehicle_id": vehicle_id,
+                    "request_id": request_id,
+                    "client_send_timestamp_us": now_us(),
+                    "operator_id": "sim_smoke",
+                    "workshop_host": "simulation",
+                },
+                "test_case_id": "smoke_velocity_step",
+                "task_purpose": 1,
+                "selected_task": 2,
+                "source_iteration_id": "smoke_iter_001",
+                "velocity_step": {
+                    "target_velocity_ms": speed,
+                    "hold_time_sec": 0.5,
+                    "settle_before_step_sec": 0.1,
+                },
+            }
+            rsp_type, payload = send_request(host, vehicle_port, CONTROL_EVALUATION_REQ, control_req, args.timeout_sec + 10.0)
+            assert_success("control velocity step", CONTROL_EVALUATION_RSP, rsp_type, payload)
+
+        if args.trajectory:
+            request_id = f"sim_smoke_trajectory_{now_us()}"
+            path = [
+                {"x_m": 0.0, "y_m": 0.0, "yaw_rad": 0.0, "target_speed_ms": speed},
+                {"x_m": abs(args.distance_m), "y_m": 0.0, "yaw_rad": 0.0, "target_speed_ms": speed},
+            ]
+
+            def make_trajectory_request(segment_path: list[dict[str, float]], segment_index: int, total_segments: int, is_final: bool) -> dict[str, Any]:
+                return {
+                    "header": {
+                        "session_id": f"sim_smoke_{now_us()}",
+                        "task_id": "sim_smoke_trajectory",
+                        "vehicle_id": vehicle_id,
+                        "request_id": f"{request_id}_seg{segment_index}" if total_segments > 1 else request_id,
+                        "client_send_timestamp_us": now_us(),
+                        "operator_id": "sim_smoke",
+                        "workshop_host": "simulation",
+                    },
+                    "test_case_id": "smoke_trajectory_tracking",
+                    "task_purpose": 1,
+                    "selected_task": 1,
+                    "source_iteration_id": "smoke_iter_001",
+                    "trajectory_tracking": {
+                        "path": segment_path,
+                        "stop_at_end": True,
+                        "timeout_sec": max(3.0, args.distance_m / max(speed, 0.01) + 2.0),
+                        "required_external_pose_source_id": "smoke_fake_external_truth" if args.fake_telemetry else "",
+                        "max_external_pose_age_ms": 500.0 if args.fake_telemetry else 0.0,
+                        "min_external_pose_quality_score": 0.1,
+                        "trajectory_id": request_id,
+                        "segment_index": segment_index,
+                        "total_segments": total_segments,
+                        "is_final_segment": is_final,
+                    },
+                }
+
+            if args.split_trajectory:
+                segments = [path[:1], path[1:]]
+                for segment_index, segment_path in enumerate(segments):
+                    is_final = segment_index == len(segments) - 1
+                    control_req = make_trajectory_request(segment_path, segment_index, len(segments), is_final)
+                    rsp_type, payload = send_request(
+                        host,
+                        vehicle_port,
+                        CONTROL_EVALUATION_REQ,
+                        control_req,
+                        args.timeout_sec + 10.0,
+                    )
+                    name = "control trajectory tracking" if is_final else f"control trajectory segment {segment_index} upload"
+                    assert_success(name, CONTROL_EVALUATION_RSP, rsp_type, payload)
+            else:
+                control_req = make_trajectory_request(path, 0, 1, True)
+                rsp_type, payload = send_request(host, vehicle_port, CONTROL_EVALUATION_REQ, control_req, args.timeout_sec + 10.0)
+                assert_success("control trajectory tracking", CONTROL_EVALUATION_RSP, rsp_type, payload)
+
+        if not args.skip_brake:
+            rsp_type, payload = send_request(host, vehicle_port, CHASSIS_EMERGENCY_BRAKE_REQ, {}, args.timeout_sec)
+            assert_success("chassis emergency brake", CHASSIS_EMERGENCY_BRAKE_RSP, rsp_type, payload)
+    finally:
+        if fake_stop is not None:
+            fake_stop.set()
+        if fake_thread is not None:
+            fake_thread.join(timeout=2.0)
+
+    print("[PASS] vehicle agent TCP smoke test completed.")
+    return 0
+
+
+if __name__ == "__main__":
+    try:
+        raise SystemExit(main())
+    except Exception as exc:
+        print(f"[FAIL] {exc}", file=sys.stderr)
+        raise SystemExit(1)
diff --git a/agv_calib_brain/src/simulation/tools/smoke_test_vehicle_sensor_agent.py b/agv_calib_brain/src/simulation/tools/smoke_test_vehicle_sensor_agent.py
new file mode 100644
index 0000000..6ebf0c2
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/smoke_test_vehicle_sensor_agent.py
@@ -0,0 +1,239 @@
+#!/usr/bin/env python3
+"""TCP smoke test for the simulated vehicle-side sensor agent."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import struct
+import sys
+import threading
+import time
+from typing import Any
+
+from sim_profile import as_int, get_nested, load_profile, validate_sim_profile
+
+
+SENSOR_GET_READINESS_REQ = 21
+SENSOR_GET_READINESS_RSP = 22
+SENSOR_GET_LATEST_FRAME_REQ = 23
+SENSOR_GET_LATEST_FRAME_RSP = 24
+SENSOR_LIST_SENSORS_REQ = 25
+SENSOR_LIST_SENSORS_RSP = 26
+
+
+def now_us() -> int:
+    return int(time.time() * 1_000_000)
+
+
+def recv_exactly(conn: socket.socket, size: int) -> bytes:
+    data = b""
+    while len(data) < size:
+        chunk = conn.recv(size - len(data))
+        if not chunk:
+            raise ConnectionError("连接提前关闭")
+        data += chunk
+    return data
+
+
+def send_request(host: str, port: int, msg_type: int, payload: dict[str, Any], timeout_sec: float) -> tuple[int, dict[str, Any]]:
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    with socket.create_connection((host, port), timeout=timeout_sec) as conn:
+        conn.settimeout(timeout_sec)
+        conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+        header = recv_exactly(conn, 8)
+        rsp_type, payload_len = struct.unpack("<II", header)
+        raw_payload = recv_exactly(conn, payload_len) if payload_len else b"{}"
+    return rsp_type, json.loads(raw_payload.decode("utf-8"))
+
+
+def assert_success(name: str, expected_type: int, actual_type: int, payload: dict[str, Any]) -> None:
+    if actual_type != expected_type:
+        raise AssertionError(f"{name}: 响应类型错误，期望 {expected_type}，实际 {actual_type}")
+    if not payload.get("success", False):
+        raise AssertionError(f"{name}: success=false, payload={payload}")
+    print(f"[PASS] {name}: {payload.get('message', '')}")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="仿真车端传感器 TCP 接口快速验收")
+    parser.add_argument("--profile", default="", help="仿真 profile 路径")
+    parser.add_argument("--host", default="", help="覆盖 profile 中的车端 host")
+    parser.add_argument("--timeout-sec", type=float, default=5.0)
+    parser.add_argument("--fake-sensors", action="store_true", help="发布假的图像、点云、LaserScan、IMU 数据")
+    parser.add_argument("--hold-fake-sensors-sec", type=float, default=0.0, help="验收完成后继续发布假传感器数据的秒数")
+    parser.add_argument("--max-payload-bytes", type=int, default=256)
+    return parser.parse_args()
+
+
+def start_fake_sensors(topics: dict[str, str]) -> tuple[threading.Event, threading.Thread]:
+    import rclpy
+    from sensor_msgs.msg import Image, Imu, LaserScan, PointCloud2, PointField
+
+    stop_event = threading.Event()
+
+    def stamp_msg(msg: Any, frame_id: str) -> None:
+        msg.header.frame_id = frame_id
+        now_ns = time.time_ns()
+        msg.header.stamp.sec = now_ns // 1_000_000_000
+        msg.header.stamp.nanosec = now_ns % 1_000_000_000
+
+    def run() -> None:
+        if not rclpy.ok():
+            rclpy.init(args=None)
+        node = rclpy.create_node("vehicle_sensor_agent_smoke_fake_sensors")
+        front_pub = node.create_publisher(Image, topics["front_camera"], 10)
+        down_pub = node.create_publisher(Image, topics["down_camera"], 10)
+        cloud_pub = node.create_publisher(PointCloud2, topics["lidar_3d"], 10)
+        scan_pub = node.create_publisher(LaserScan, topics["lidar_2d"], 10)
+        imu_pub = node.create_publisher(Imu, topics["imu"], 10)
+
+        image_data = bytes([0, 32, 64, 96, 128, 160, 192, 255] * 6)
+        point_data = bytes([0, 0, 0, 0, 0, 0, 128, 63, 0, 0, 0, 64, 0, 0, 64, 64] * 4)
+        try:
+            while not stop_event.is_set():
+                front = Image()
+                stamp_msg(front, "front_camera_link")
+                front.width = 4
+                front.height = 4
+                front.encoding = "rgb8"
+                front.is_bigendian = 0
+                front.step = 12
+                front.data = image_data
+                front_pub.publish(front)
+
+                down = Image()
+                stamp_msg(down, "down_camera_link")
+                down.width = 4
+                down.height = 4
+                down.encoding = "mono8"
+                down.is_bigendian = 0
+                down.step = 4
+                down.data = image_data[:16]
+                down_pub.publish(down)
+
+                cloud = PointCloud2()
+                stamp_msg(cloud, "lidar_3d_link")
+                cloud.height = 1
+                cloud.width = 4
+                cloud.fields = [
+                    PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1),
+                    PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1),
+                    PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1),
+                    PointField(name="intensity", offset=12, datatype=PointField.FLOAT32, count=1),
+                ]
+                cloud.is_bigendian = False
+                cloud.point_step = 16
+                cloud.row_step = 64
+                cloud.is_dense = True
+                cloud.data = point_data
+                cloud_pub.publish(cloud)
+
+                scan = LaserScan()
+                stamp_msg(scan, "lidar_2d_link")
+                scan.angle_min = -1.57
+                scan.angle_max = 1.57
+                scan.angle_increment = 0.785
+                scan.time_increment = 0.0
+                scan.scan_time = 0.1
+                scan.range_min = 0.05
+                scan.range_max = 20.0
+                scan.ranges = [1.0, 1.2, 1.5, 1.2, 1.0]
+                scan.intensities = [10.0, 20.0, 30.0, 20.0, 10.0]
+                scan_pub.publish(scan)
+
+                imu = Imu()
+                stamp_msg(imu, "imu_link")
+                imu.orientation.w = 1.0
+                imu.angular_velocity.z = 0.01
+                imu.linear_acceleration.z = 9.81
+                imu_pub.publish(imu)
+
+                rclpy.spin_once(node, timeout_sec=0.0)
+                time.sleep(0.05)
+        finally:
+            node.destroy_node()
+            if rclpy.ok():
+                rclpy.shutdown()
+
+    thread = threading.Thread(target=run, daemon=True)
+    thread.start()
+    return stop_event, thread
+
+
+def main() -> int:
+    args = parse_args()
+    profile = load_profile(args.profile or None)
+    validate_sim_profile(profile)
+
+    gateway = profile["workshop_pc"]["gateway"]
+    sensor_agent = profile.get("vehicle_sensor_agent", {})
+    host = args.host or str(gateway.get("sensor_host", gateway.get("control_host", "127.0.0.1")))
+    port = as_int(
+        gateway.get("vehicle_port", gateway.get("sensor_port", 9003)),
+        "workshop_pc.gateway.vehicle_port",
+    )
+    topics = {
+        "front_camera": str(get_nested(profile, "vehicle_sensor_agent.front_camera_topic", "/sensor/front_camera/image_raw")),
+        "down_camera": str(get_nested(profile, "vehicle_sensor_agent.down_camera_topic", "/sensor/down_camera/image_raw")),
+        "lidar_3d": str(get_nested(profile, "vehicle_sensor_agent.lidar_3d_topic", "/sensor/lidar_3d/pointcloud")),
+        "lidar_2d": str(get_nested(profile, "vehicle_sensor_agent.lidar_2d_topic", "/sensor/lidar_2d/scan")),
+        "imu": str(get_nested(profile, "vehicle_sensor_agent.imu_topic", "/sensor/imu/data")),
+    }
+    sensor_ids = [
+        str(sensor_agent.get("front_camera_sensor_id", "demo_front_camera")),
+        str(sensor_agent.get("down_camera_sensor_id", "demo_down_camera")),
+        str(sensor_agent.get("lidar_3d_sensor_id", "demo_lidar_3d")),
+        str(sensor_agent.get("lidar_2d_sensor_id", "demo_lidar_2d")),
+        str(sensor_agent.get("imu_sensor_id", "demo_imu")),
+    ]
+
+    fake_stop = None
+    fake_thread = None
+    if args.fake_sensors:
+        fake_stop, fake_thread = start_fake_sensors(topics)
+        time.sleep(0.5)
+
+    try:
+        rsp_type, payload = send_request(host, port, SENSOR_LIST_SENSORS_REQ, {}, args.timeout_sec)
+        assert_success("sensor list", SENSOR_LIST_SENSORS_RSP, rsp_type, payload)
+
+        rsp_type, payload = send_request(host, port, SENSOR_GET_READINESS_REQ, {}, args.timeout_sec)
+        assert_success("sensor readiness", SENSOR_GET_READINESS_RSP, rsp_type, payload)
+
+        for sensor_id in sensor_ids:
+            rsp_type, payload = send_request(
+                host,
+                port,
+                SENSOR_GET_LATEST_FRAME_REQ,
+                {
+                    "sensor_id": sensor_id,
+                    "include_payload": True,
+                    "max_payload_bytes": args.max_payload_bytes,
+                    "fragment_index": 0,
+                },
+                args.timeout_sec,
+            )
+            assert_success(f"latest frame {sensor_id}", SENSOR_GET_LATEST_FRAME_RSP, rsp_type, payload)
+            frame = payload.get("sensor_frame", {})
+            if not frame.get("header", {}).get("sequence_id", 0):
+                raise AssertionError(f"{sensor_id}: sequence_id missing in payload={payload}")
+        if args.fake_sensors and args.hold_fake_sensors_sec > 0.0:
+            time.sleep(args.hold_fake_sensors_sec)
+    finally:
+        if fake_stop is not None:
+            fake_stop.set()
+        if fake_thread is not None:
+            fake_thread.join(timeout=2.0)
+
+    print("[PASS] vehicle sensor agent TCP smoke test completed.")
+    return 0
+
+
+if __name__ == "__main__":
+    try:
+        raise SystemExit(main())
+    except Exception as exc:
+        print(f"[FAIL] {exc}", file=sys.stderr)
+        raise SystemExit(1)
diff --git a/agv_calib_brain/src/simulation/tools/smoke_test_workshop_orchestrator.py b/agv_calib_brain/src/simulation/tools/smoke_test_workshop_orchestrator.py
new file mode 100644
index 0000000..9275abd
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/smoke_test_workshop_orchestrator.py
@@ -0,0 +1,617 @@
+#!/usr/bin/env python3
+"""车间总控端到端验收脚本。
+
+使用前先启动仿真/本地 demo 栈。本脚本负责：
+1. 注册一份最小车辆画像；
+2. 创建 workshop session；
+3. 调用 /workshop_v2/execute_session action；
+4. 检查最终报告和阶段结果。
+
+默认验收到传感器内参链路；传感器外参需要有效观测帧，等观测数据链路就绪后可通过
+--tasks external,chassis,control,sensor_intrinsic,sensor_extrinsic 显式加入。
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import sys
+import time
+from pathlib import Path
+from typing import Iterable
+
+try:
+    import rclpy
+    from rclpy.action import ActionClient
+except ImportError as exc:  # pragma: no cover - 只在未 source ROS 环境时触发
+    print(f"[FAIL] 无法导入 ROS2 Python 模块: {exc}", file=sys.stderr)
+    print("请先执行: source install/setup.bash", file=sys.stderr)
+    raise
+
+from calibration_common_interfaces.msg import KeyValuePair, RequestHeader
+from calibration_external_localization_interfaces.msg import ExternalLocalizationTelemetry
+from rcl_interfaces.msg import Parameter, ParameterType, ParameterValue
+from rcl_interfaces.srv import SetParameters
+from calibration_vehicle_profile_interfaces.msg import (
+    CalibrationAbilityType,
+    CalibrationCapability,
+    CameraMountType,
+    ChassisType,
+    ControlAxisType,
+    ControllerAlgorithmType,
+    ControllerProfile,
+    ControllerSelection,
+    SensorProfile,
+    SensorType,
+    VehicleProfile,
+    WorkflowStageType,
+)
+from calibration_workshop_orchestration_interfaces.action import ExecuteWorkshopSession
+from calibration_workshop_orchestration_interfaces.msg import (
+    RequestedCalibrationTask,
+    StageExecutionPolicy,
+    WorkshopOperatorInfo,
+    WorkshopSessionConfig,
+)
+from calibration_workshop_orchestration_interfaces.srv import (
+    CreateWorkshopSession,
+    GetWorkshopReport,
+    GetWorkshopSession,
+)
+from calibration_vehicle_profile_interfaces.srv import RegisterOrUpdateVehicleProfile
+
+
+TASK_STAGE_TYPES = {
+    "external": WorkflowStageType.EXTERNAL_REFERENCE_READY_CHECK_STAGE,
+    "chassis": WorkflowStageType.CHASSIS_CALIBRATION_STAGE,
+    "control": WorkflowStageType.CONTROL_CALIBRATION_STAGE,
+    "sensor_intrinsic": WorkflowStageType.SENSOR_INTRINSIC_CALIBRATION_STAGE,
+    "sensor_extrinsic": WorkflowStageType.SENSOR_EXTRINSIC_CALIBRATION_STAGE,
+    "hand_eye": WorkflowStageType.HAND_EYE_CALIBRATION_STAGE,
+}
+
+DEFAULT_TASKS = "external,chassis,control,sensor_intrinsic"
+
+
+def now_us() -> int:
+    return int(time.time() * 1_000_000)
+
+
+def make_header(vehicle_id: str, task_id: str, operator_id: str) -> RequestHeader:
+    header = RequestHeader()
+    header.session_id = f"orchestrator_smoke_{now_us()}"
+    header.task_id = task_id
+    header.vehicle_id = vehicle_id
+    header.request_id = f"{task_id}_{now_us()}"
+    header.client_send_timestamp_us = now_us()
+    header.operator_id = operator_id
+    header.workshop_host = "smoke_test_workshop_orchestrator"
+    return header
+
+
+def kv(key: str, value: str) -> KeyValuePair:
+    item = KeyValuePair()
+    item.key = key
+    item.value = value
+    return item
+
+
+def make_capability(ability: int, message: str) -> CalibrationCapability:
+    cap = CalibrationCapability()
+    cap.ability_type.value = ability
+    cap.supported = True
+    cap.message = message
+    return cap
+
+
+def make_controller_profile(axis: int, default_algorithm: int) -> ControllerProfile:
+    profile = ControllerProfile()
+    profile.control_axis.value = axis
+    for algorithm in (
+        ControllerAlgorithmType.PID,
+        ControllerAlgorithmType.MPC,
+        ControllerAlgorithmType.LQR,
+        ControllerAlgorithmType.PURE_PURSUIT,
+    ):
+        item = ControllerAlgorithmType()
+        item.value = algorithm
+        profile.supported_algorithms.append(item)
+    profile.default_algorithm.value = default_algorithm
+    return profile
+
+
+def make_controller_selection(axis: int, algorithm: int, is_default: bool) -> ControllerSelection:
+    selection = ControllerSelection()
+    selection.control_axis.value = axis
+    selection.algorithm_type.value = algorithm
+    selection.enabled = True
+    selection.need_tuning = True
+    selection.is_default = is_default
+    return selection
+
+
+def make_sensor(sensor_id: str, sensor_type: int, mount_type: int, name: str) -> SensorProfile:
+    sensor = SensorProfile()
+    sensor.sensor_id = sensor_id
+    sensor.sensor_type.value = sensor_type
+    sensor.sensor_name = name
+    sensor.frame_id = f"{sensor_id}_frame"
+    sensor.camera_mount_type.value = mount_type
+    sensor.enabled = True
+    sensor.needs_intrinsic_calibration = sensor_type in (
+        SensorType.FRONT_CAMERA,
+        SensorType.DOWNWARD_CAMERA,
+        SensorType.IMU,
+    )
+    sensor.needs_extrinsic_calibration = True
+    sensor.device_hint = f"/workshop/vehicle_sensor/{sensor_id}"
+    sensor.selected_for_this_session = sensor_id == "demo_front_camera"
+    sensor.supports_intrinsic_calibration = sensor.needs_intrinsic_calibration
+    sensor.supports_extrinsic_calibration = True
+    return sensor
+
+
+def make_vehicle_profile(vehicle_id: str) -> VehicleProfile:
+    profile = VehicleProfile()
+    profile.base_info.vehicle_id = vehicle_id
+    profile.base_info.vehicle_name = "仿真阿克曼小车"
+    profile.base_info.model_name = "ackermann_sim"
+    profile.base_info.serial_number = f"{vehicle_id}_serial"
+    profile.base_info.manufacturer = "AutoCalib Workshop"
+    profile.base_info.description = "orchestrator e2e smoke profile"
+    profile.chassis_type.value = ChassisType.ACKERMANN
+    profile.base_link_frame = "base_link"
+    profile.profile_version = "orchestrator_smoke_v1"
+
+    profile.capabilities.extend([
+        make_capability(CalibrationAbilityType.EXTERNAL_LOCALIZATION_CALIBRATION, "支持外部真值接入"),
+        make_capability(CalibrationAbilityType.CHASSIS_CALIBRATION, "支持底盘标定"),
+        make_capability(CalibrationAbilityType.CONTROL_CALIBRATION, "支持运控参数标定"),
+        make_capability(CalibrationAbilityType.SENSOR_CALIBRATION, "支持传感器标定"),
+    ])
+
+    profile.sensors.extend([
+        make_sensor("demo_front_camera", SensorType.FRONT_CAMERA, CameraMountType.FRONT_MOUNTED, "前视相机"),
+        make_sensor("demo_down_camera", SensorType.DOWNWARD_CAMERA, CameraMountType.DOWNWARD_MOUNTED, "下视相机"),
+        make_sensor("demo_lidar_3d", SensorType.LIDAR_3D, CameraMountType.CAMERA_MOUNT_TYPE_UNSPECIFIED, "3D 激光雷达"),
+        make_sensor("demo_lidar_2d", SensorType.LIDAR_2D, CameraMountType.CAMERA_MOUNT_TYPE_UNSPECIFIED, "2D 激光雷达"),
+        make_sensor("demo_imu", SensorType.IMU, CameraMountType.CAMERA_MOUNT_TYPE_UNSPECIFIED, "IMU"),
+    ])
+
+    profile.controllers.extend([
+        make_controller_profile(ControlAxisType.LATERAL_CONTROL, ControllerAlgorithmType.MPC),
+        make_controller_profile(ControlAxisType.LONGITUDINAL_CONTROL, ControllerAlgorithmType.PID),
+    ])
+    profile.controller_selections.extend([
+        make_controller_selection(ControlAxisType.LATERAL_CONTROL, ControllerAlgorithmType.MPC, True),
+        make_controller_selection(ControlAxisType.LONGITUDINAL_CONTROL, ControllerAlgorithmType.PID, True),
+    ])
+
+    for stage_value in (
+        WorkflowStageType.EXTERNAL_REFERENCE_READY_CHECK_STAGE,
+        WorkflowStageType.CHASSIS_CALIBRATION_STAGE,
+        WorkflowStageType.CONTROL_CALIBRATION_STAGE,
+        WorkflowStageType.SENSOR_INTRINSIC_CALIBRATION_STAGE,
+        WorkflowStageType.SENSOR_EXTRINSIC_CALIBRATION_STAGE,
+    ):
+        stage = WorkflowStageType()
+        stage.value = stage_value
+        profile.enabled_workflow_stages.append(stage)
+
+    return profile
+
+
+def parse_tasks(raw: str) -> list[str]:
+    if raw.strip().lower() == "all":
+        raw = DEFAULT_TASKS
+    tasks = []
+    for item in raw.split(","):
+        name = item.strip()
+        if not name:
+            continue
+        if name not in TASK_STAGE_TYPES:
+            raise ValueError(f"不支持的任务名: {name}，可选: {', '.join(TASK_STAGE_TYPES)}")
+        tasks.append(name)
+    if not tasks:
+        raise ValueError("至少需要指定一个任务")
+    return tasks
+
+
+def task_params(task_name: str, args: argparse.Namespace) -> list[KeyValuePair]:
+    if task_name == "external":
+        return [
+            kv("external.static_sample_count", "1"),
+            kv("external.dynamic_sample_count", "1"),
+            kv("external.require_short_motion_segment", "false"),
+            kv("external.max_position_stddev_m", "0.05"),
+            kv("external.max_yaw_stddev_rad", "0.05"),
+            kv("external.max_tracking_loss_ratio", "0.05"),
+            kv("external.max_time_sync_offset_ms", "50.0"),
+            kv("external.timeout_sec", "5.0"),
+        ]
+    if task_name == "chassis":
+        return [
+            kv("primitive_type", "straight_line"),
+            kv("straight_line.target_distance_m", str(args.chassis_distance_m)),
+            kv("straight_line.target_speed_ms", str(args.chassis_speed_mps)),
+            kv("straight_line.reverse", "false"),
+            kv("brake_when_finished", "true"),
+            kv("timeout_sec", "10.0"),
+        ]
+    if task_name == "control":
+        return [
+            kv("control.task_type", "velocity_step"),
+            kv("velocity_step.target_velocity_ms", str(args.control_velocity_mps)),
+            kv("velocity_step.hold_time_sec", "0.5"),
+            kv("velocity_step.settle_before_step_sec", "0.1"),
+            kv("control.timeout_sec", "10.0"),
+        ]
+    if task_name == "sensor_intrinsic":
+        return [
+            kv("sensor.sensor_id", "demo_front_camera"),
+            kv("sensor.task_subtype", "front_camera_intrinsic"),
+            kv("camera_intrinsic.required_image_count", "1"),
+            kv("camera_intrinsic.target_board_id", args.reference_target_id),
+            kv("camera_intrinsic.timeout_sec", "5.0"),
+        ]
+    if task_name == "sensor_extrinsic":
+        return [
+            kv("sensor.sensor_id", "demo_front_camera"),
+            kv("sensor.task_subtype", "front_camera_extrinsic"),
+            kv("sensor_extrinsic.base_frame_id", "base_link"),
+            kv("sensor_extrinsic.required_sample_count", "1"),
+            kv("sensor_extrinsic.timeout_sec", "5.0"),
+        ]
+    if task_name == "hand_eye":
+        return [
+            kv("sensor.sensor_id", "demo_front_camera"),
+            kv("sensor.task_subtype", "eye_in_hand"),
+            kv("hand_eye.arm_id", "demo_arm"),
+            kv("hand_eye.required_pose_count", "1"),
+            kv("hand_eye.timeout_sec", "5.0"),
+        ]
+    return []
+
+
+def make_requested_task(task_name: str, args: argparse.Namespace) -> RequestedCalibrationTask:
+    task = RequestedCalibrationTask()
+    task.stage_type.value = TASK_STAGE_TYPES[task_name]
+    task.enabled = True
+    task.require_manual_approval = False
+    task.execution_policy.value = StageExecutionPolicy.REQUIRED
+    task.reason = "orchestrator e2e smoke"
+    task.task_code = task_name
+    task.target_id = args.reference_target_id if task_name == "external" else ""
+    task.task_params.extend(task_params(task_name, args))
+    return task
+
+
+def make_session_config(tasks: Iterable[str], args: argparse.Namespace) -> WorkshopSessionConfig:
+    config = WorkshopSessionConfig()
+    config.auto_commit_parameters = False
+    config.require_manual_approval_before_commit = False
+    config.run_validation_after_each_stage = False
+    config.stop_on_first_failure = True
+    config.allow_optional_stage_skip = False
+    config.enable_auto_rollback_on_validation_failure = False
+    config.allow_rebuild_execution_plan = False
+    config.localization_source_id = args.reference_source_name
+    config.workcell_zone_id = args.workcell_zone_id
+    config.reference_target_id = args.reference_target_id
+    for task_name in tasks:
+        config.requested_tasks.append(make_requested_task(task_name, args))
+    return config
+
+
+class OrchestratorSmoke:
+    def __init__(self, args: argparse.Namespace) -> None:
+        self.args = args
+        self.node = rclpy.create_node("smoke_test_workshop_orchestrator")
+        self.feedback_messages: list[str] = []
+        self.external_pub = self.node.create_publisher(
+            ExternalLocalizationTelemetry,
+            args.external_telemetry_topic,
+            10,
+        )
+        self.external_timer = None
+        if args.publish_fake_external_telemetry:
+            period = 1.0 / max(args.fake_external_hz, 1.0)
+            self.external_timer = self.node.create_timer(period, self.publish_external_telemetry)
+
+    def destroy(self) -> None:
+        self.node.destroy_node()
+
+    def publish_external_telemetry(self) -> None:
+        msg = ExternalLocalizationTelemetry()
+        msg.hardware_timestamp_us = now_us()
+        msg.pose_valid = True
+        msg.workshop_pose.x_m = 0.0
+        msg.workshop_pose.y_m = 0.0
+        msg.workshop_pose.z_m = 0.0
+        msg.workshop_pose.roll_rad = 0.0
+        msg.workshop_pose.pitch_rad = 0.0
+        msg.workshop_pose.yaw_rad = 0.0
+        msg.position_stddev_m = 0.001
+        msg.yaw_stddev_rad = 0.001
+        msg.tracking_loss_ratio = 0.0
+        msg.time_sync_offset_ms = 1.0
+        msg.quality_score = 1.0
+        msg.observed_target_count = 4
+        msg.reference_source_name = self.args.reference_source_name
+        msg.active_job_id = "orchestrator_e2e_smoke"
+        self.external_pub.publish(msg)
+
+    def spin_for(self, seconds: float) -> None:
+        deadline = time.monotonic() + seconds
+        while time.monotonic() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.05)
+
+    def wait_for_service(self, client, name: str) -> None:
+        if not client.wait_for_service(timeout_sec=self.args.service_timeout_sec):
+            raise RuntimeError(f"服务不可用: {name}")
+
+    def call_service(self, client, request, name: str):
+        self.wait_for_service(client, name)
+        future = client.call_async(request)
+        deadline = time.monotonic() + self.args.service_timeout_sec
+        while rclpy.ok() and not future.done() and time.monotonic() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.05)
+        if not future.done():
+            raise TimeoutError(f"等待服务响应超时: {name}")
+        return future.result()
+
+    def maybe_disable_wifi6_precheck(self) -> None:
+        if not self.args.disable_wifi6_precheck:
+            return
+        node_name = self.args.orchestrator_node.strip("/")
+        client = self.node.create_client(SetParameters, f"/{node_name}/set_parameters")
+        request = SetParameters.Request()
+        item = Parameter()
+        item.name = "wifi6_precheck_enabled"
+        item.value = ParameterValue()
+        item.value.type = ParameterType.PARAMETER_BOOL
+        item.value.bool_value = False
+        request.parameters.append(item)
+        response = self.call_service(client, request, f"/{node_name}/set_parameters")
+        results = response.results
+        if not results or not results[0].successful:
+            reason = "" if not results else results[0].reason
+            raise RuntimeError(f"设置 wifi6_precheck_enabled=false 失败: {reason}")
+        print("[INFO] 已临时关闭 orchestrator WiFi6 预检。")
+
+    def register_vehicle_profile(self, profile: VehicleProfile) -> None:
+        client = self.node.create_client(
+            RegisterOrUpdateVehicleProfile,
+            "/vehicle_profile_manager/register_or_update_vehicle_profile",
+        )
+        request = RegisterOrUpdateVehicleProfile.Request()
+        request.request.header = make_header(self.args.vehicle_id, "register_profile", self.args.operator_id)
+        request.request.profile = profile
+        response = self.call_service(
+            client,
+            request,
+            "/vehicle_profile_manager/register_or_update_vehicle_profile",
+        )
+        if not response.response.success:
+            raise RuntimeError(f"注册车辆画像失败: {response.response.message}")
+        print(f"[PASS] 已注册车辆画像: {self.args.vehicle_id}")
+
+    def create_session(self, profile: VehicleProfile, tasks: list[str]) -> str:
+        client = self.node.create_client(CreateWorkshopSession, "/workshop_v2/create_session")
+        request = CreateWorkshopSession.Request()
+        request.request.header = make_header(self.args.vehicle_id, "create_session", self.args.operator_id)
+        request.request.vehicle_profile_snapshot = profile
+        request.request.operator_info = WorkshopOperatorInfo()
+        request.request.operator_info.operator_id = self.args.operator_id
+        request.request.operator_info.operator_name = "orchestrator smoke"
+        request.request.operator_info.workstation_id = self.args.workstation_id
+        request.request.operator_info.shift_id = "smoke"
+        request.request.config = make_session_config(tasks, self.args)
+        request.request.workshop_line_id = self.args.workshop_line_id
+        request.request.auto_build_execution_plan = True
+        response = self.call_service(client, request, "/workshop_v2/create_session")
+        if not response.response.success:
+            raise RuntimeError(f"创建 session 失败: {response.response.message}")
+        response_session_id = response.response.session_id
+        nested_session_id = response.response.session.session_id
+        session_id = response_session_id or nested_session_id
+        if not session_id:
+            raise RuntimeError(
+                "创建 session 成功但返回了空 session_id: "
+                f"message={response.response.message!r}, "
+                f"response_session_id={response_session_id!r}, "
+                f"nested_session_id={nested_session_id!r}, "
+                f"stage_count={len(response.response.session.stage_plan)}"
+            )
+        stage_ids = [stage.stage_id for stage in response.response.session.stage_plan]
+        print(f"[PASS] 已创建 session: {session_id}")
+        if response_session_id != nested_session_id:
+            print(
+                "[WARN] create_session 返回的顶层 session_id 与 session 快照不一致: "
+                f"response={response_session_id!r}, nested={nested_session_id!r}"
+            )
+        print(f"[INFO] 计划阶段: {', '.join(stage_ids)}")
+        return session_id
+
+    def verify_session_visible(self, session_id: str) -> None:
+        client = self.node.create_client(GetWorkshopSession, "/workshop_v2/get_session")
+        request = GetWorkshopSession.Request()
+        request.request.header = make_header(self.args.vehicle_id, "get_session", self.args.operator_id)
+        request.request.session_id = session_id
+        response = self.call_service(client, request, "/workshop_v2/get_session")
+        if not response.response.success:
+            raise RuntimeError(
+                "创建后立即查询 session 失败，可能存在旧 orchestrator 节点或 service/action 连到不同实例: "
+                f"session_id={session_id!r}, message={response.response.message!r}"
+            )
+        visible_id = response.response.session.session_id
+        if visible_id != session_id:
+            raise RuntimeError(
+                "get_session 返回的 session_id 与请求不一致: "
+                f"requested={session_id!r}, visible={visible_id!r}"
+            )
+        print(f"[PASS] session 可查询: {session_id}")
+
+    def feedback_cb(self, feedback_msg) -> None:
+        event = feedback_msg.feedback.feedback
+        text = event.message or f"event_type={event.event_type.value}"
+        if event.stage_id:
+            text = f"{event.stage_id}: {text}"
+        self.feedback_messages.append(text)
+        if self.args.verbose_feedback:
+            print(f"[FEEDBACK] {text}")
+
+    def execute_session(self, session_id: str):
+        client = ActionClient(self.node, ExecuteWorkshopSession, "/workshop_v2/execute_session")
+        if not client.wait_for_server(timeout_sec=self.args.service_timeout_sec):
+            raise RuntimeError("action server 不可用: /workshop_v2/execute_session")
+
+        goal = ExecuteWorkshopSession.Goal()
+        goal.goal.header = make_header(self.args.vehicle_id, "execute_session", self.args.operator_id)
+        goal.goal.header.session_id = session_id
+        goal.goal.session_id = session_id
+        send_future = client.send_goal_async(goal, feedback_callback=self.feedback_cb)
+        deadline = time.monotonic() + self.args.action_timeout_sec
+        while rclpy.ok() and not send_future.done() and time.monotonic() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.05)
+        if not send_future.done():
+            raise TimeoutError("发送 execute_session goal 超时")
+
+        goal_handle = send_future.result()
+        if not goal_handle.accepted:
+            raise RuntimeError(f"orchestrator 拒绝 execute_session goal: session_id={session_id!r}")
+        print("[PASS] execute_session goal 已接受")
+
+        result_future = goal_handle.get_result_async()
+        while rclpy.ok() and not result_future.done() and time.monotonic() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.05)
+        if not result_future.done():
+            raise TimeoutError("等待 execute_session 结果超时")
+        return result_future.result()
+
+    def fetch_report(self, session_id: str):
+        client = self.node.create_client(GetWorkshopReport, "/workshop_v2/get_report")
+        request = GetWorkshopReport.Request()
+        request.request.header = make_header(self.args.vehicle_id, "get_report", self.args.operator_id)
+        request.request.session_id = session_id
+        return self.call_service(client, request, "/workshop_v2/get_report")
+
+    def run(self) -> int:
+        tasks = parse_tasks(self.args.tasks)
+        Path(self.args.sensor_storage_root).mkdir(parents=True, exist_ok=True)
+        self.maybe_disable_wifi6_precheck()
+        if self.args.publish_fake_external_telemetry:
+            self.spin_for(self.args.external_warmup_sec)
+
+        profile = make_vehicle_profile(self.args.vehicle_id)
+        self.register_vehicle_profile(profile)
+        session_id = self.create_session(profile, tasks)
+        self.verify_session_visible(session_id)
+        action_result = self.execute_session(session_id)
+        report_response = action_result.result.result
+        report = report_response.report
+
+        if not report_response.success:
+            action_status = getattr(action_result, "status", None)
+            message = report_response.message or "(orchestrator 未返回失败原因)"
+            print(
+                f"[FAIL] execute_session 失败: {message}; "
+                f"session_id={session_id}; action_status={action_status}",
+                file=sys.stderr,
+            )
+            self.print_report(report)
+            return 2
+
+        if not report.overall_success:
+            print("[FAIL] report.overall_success=false", file=sys.stderr)
+            self.print_report(report)
+            return 3
+
+        expected_count = len(tasks)
+        actual_count = len(report.stage_results)
+        if self.args.strict_stage_count and actual_count != expected_count:
+            print(
+                f"[FAIL] 阶段结果数量不符合预期: expected={expected_count}, actual={actual_count}",
+                file=sys.stderr,
+            )
+            self.print_report(report)
+            return 4
+
+        failed = [result for result in report.stage_results if not result.success or not result.auto_acceptance_passed]
+        if failed:
+            print("[FAIL] 存在未通过阶段", file=sys.stderr)
+            self.print_report(report)
+            return 5
+
+        service_report = self.fetch_report(session_id)
+        if not service_report.response.success:
+            print(f"[FAIL] get_report 失败: {service_report.response.message}", file=sys.stderr)
+            return 6
+
+        print("[PASS] workshop orchestrator e2e smoke completed.")
+        self.print_report(report)
+        return 0
+
+    @staticmethod
+    def print_report(report) -> None:
+        print(f"[REPORT] session_id={report.session_id} overall_success={report.overall_success}")
+        print(f"[REPORT] summary={report.summary}")
+        for result in report.stage_results:
+            print(
+                "[STAGE] "
+                f"id={result.stage_id} "
+                f"success={result.success} "
+                f"auto_acceptance={result.auto_acceptance_passed} "
+                f"state={result.final_job_state.state} "
+                f"summary={result.summary}"
+            )
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="workshop_orchestrator_v2 端到端验收脚本")
+    parser.add_argument("--vehicle-id", default="demo_agv_001")
+    parser.add_argument("--tasks", default=DEFAULT_TASKS, help=f"逗号分隔任务列表，默认: {DEFAULT_TASKS}")
+    parser.add_argument("--operator-id", default="smoke_operator")
+    parser.add_argument("--workstation-id", default="sim_workstation")
+    parser.add_argument("--workshop-line-id", default="sim_line_001")
+    parser.add_argument("--workcell-zone-id", default="sim_workcell_zone")
+    parser.add_argument("--reference-source-name", default="isaac_sim_truth_source")
+    parser.add_argument("--reference-target-id", default="sim_reference_target")
+    parser.add_argument("--external-telemetry-topic", default="/isaac/external_localization/telemetry")
+    parser.add_argument("--publish-fake-external-telemetry", action=argparse.BooleanOptionalAction, default=True)
+    parser.add_argument("--fake-external-hz", type=float, default=20.0)
+    parser.add_argument("--external-warmup-sec", type=float, default=0.8)
+    parser.add_argument("--sensor-storage-root", default="/tmp/agv_sensor_calibration")
+    parser.add_argument("--chassis-distance-m", type=float, default=0.2)
+    parser.add_argument("--chassis-speed-mps", type=float, default=0.1)
+    parser.add_argument("--control-velocity-mps", type=float, default=0.1)
+    parser.add_argument("--service-timeout-sec", type=float, default=10.0)
+    parser.add_argument("--action-timeout-sec", type=float, default=240.0)
+    parser.add_argument("--strict-stage-count", action=argparse.BooleanOptionalAction, default=True)
+    parser.add_argument("--verbose-feedback", action="store_true")
+    parser.add_argument(
+        "--disable-wifi6-precheck",
+        action="store_true",
+        help="仅用于本地无 9000 WiFi6 gateway 的 demo；会临时关闭 orchestrator 的 WiFi6 预检参数",
+    )
+    parser.add_argument("--orchestrator-node", default="/workshop_orchestrator_v2")
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    rclpy.init(args=None)
+    runner = OrchestratorSmoke(args)
+    try:
+        return runner.run()
+    except Exception as exc:
+        print(f"[FAIL] {exc}", file=sys.stderr)
+        return 1
+    finally:
+        runner.destroy()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/tools/vehicle_wifi6_gateway_sim.py b/agv_calib_brain/src/simulation/tools/vehicle_wifi6_gateway_sim.py
new file mode 100644
index 0000000..d743240
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/vehicle_wifi6_gateway_sim.py
@@ -0,0 +1,178 @@
+#!/usr/bin/env python3
+"""仿真车端 WiFi6 gateway。
+
+车间工控机只连接本脚本暴露的统一端口。脚本根据 frame_type 把请求转发到
+仿真车端内部的底盘、运控、传感器、外部真值后端端口。
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import logging
+import socket
+import struct
+import threading
+from dataclasses import dataclass
+from typing import Any
+
+
+CHASSIS_GET_READINESS_REQ = 1
+CHASSIS_GET_READINESS_RSP = 2
+CHASSIS_MOTION_PRIMITIVE_REQ = 3
+CHASSIS_MOTION_PRIMITIVE_RSP = 4
+CHASSIS_EMERGENCY_BRAKE_REQ = 5
+CHASSIS_EMERGENCY_BRAKE_RSP = 6
+
+CONTROL_GET_READINESS_REQ = 11
+CONTROL_GET_READINESS_RSP = 12
+CONTROL_EVALUATION_REQ = 13
+CONTROL_EVALUATION_RSP = 14
+
+SENSOR_GET_READINESS_REQ = 21
+SENSOR_GET_READINESS_RSP = 22
+SENSOR_GET_LATEST_FRAME_REQ = 23
+SENSOR_GET_LATEST_FRAME_RSP = 24
+SENSOR_LIST_SENSORS_REQ = 25
+SENSOR_LIST_SENSORS_RSP = 26
+
+EXTERNAL_POSE_PUSH_REQ = 31
+EXTERNAL_POSE_PUSH_RSP = 32
+
+
+@dataclass(frozen=True)
+class BackendRoute:
+    name: str
+    host: str
+    port: int
+    response_type: int
+
+
+def recv_exactly(conn: socket.socket, size: int) -> bytes:
+    data = b""
+    while len(data) < size:
+        chunk = conn.recv(size - len(data))
+        if not chunk:
+            raise ConnectionError("连接提前关闭")
+        data += chunk
+    return data
+
+
+def read_frame(conn: socket.socket) -> tuple[int, bytes]:
+    header = recv_exactly(conn, 8)
+    msg_type, payload_len = struct.unpack("<II", header)
+    payload = recv_exactly(conn, payload_len) if payload_len else b""
+    return msg_type, payload
+
+
+def send_frame(conn: socket.socket, msg_type: int, payload: bytes) -> None:
+    conn.sendall(struct.pack("<II", msg_type, len(payload)) + payload)
+
+
+def json_error(message: str) -> bytes:
+    payload: dict[str, Any] = {
+        "success": False,
+        "error_code": {"code": 3},
+        "message": message,
+    }
+    return json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+
+
+class Wifi6GatewaySim:
+    def __init__(self, args: argparse.Namespace) -> None:
+        self.bind_host = args.bind_host
+        self.vehicle_port = args.vehicle_port
+        self.timeout_sec = args.timeout_sec
+        self.routes = self._build_routes(args)
+
+    def _build_routes(self, args: argparse.Namespace) -> dict[int, BackendRoute]:
+        chassis = (args.chassis_host, args.chassis_port)
+        control = (args.control_host, args.control_port)
+        sensor = (args.sensor_host, args.sensor_port)
+        external_pose = (args.external_pose_host, args.external_pose_port)
+        return {
+            CHASSIS_GET_READINESS_REQ: BackendRoute("chassis", *chassis, CHASSIS_GET_READINESS_RSP),
+            CHASSIS_MOTION_PRIMITIVE_REQ: BackendRoute("chassis", *chassis, CHASSIS_MOTION_PRIMITIVE_RSP),
+            CHASSIS_EMERGENCY_BRAKE_REQ: BackendRoute("chassis", *chassis, CHASSIS_EMERGENCY_BRAKE_RSP),
+            CONTROL_GET_READINESS_REQ: BackendRoute("control", *control, CONTROL_GET_READINESS_RSP),
+            CONTROL_EVALUATION_REQ: BackendRoute("control", *control, CONTROL_EVALUATION_RSP),
+            SENSOR_GET_READINESS_REQ: BackendRoute("sensor", *sensor, SENSOR_GET_READINESS_RSP),
+            SENSOR_GET_LATEST_FRAME_REQ: BackendRoute("sensor", *sensor, SENSOR_GET_LATEST_FRAME_RSP),
+            SENSOR_LIST_SENSORS_REQ: BackendRoute("sensor", *sensor, SENSOR_LIST_SENSORS_RSP),
+            EXTERNAL_POSE_PUSH_REQ: BackendRoute("external_pose", *external_pose, EXTERNAL_POSE_PUSH_RSP),
+        }
+
+    def serve_forever(self) -> None:
+        with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as server:
+            server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            server.bind((self.bind_host, self.vehicle_port))
+            server.listen(32)
+            logging.info("仿真 WiFi6 gateway 监听 %s:%d", self.bind_host, self.vehicle_port)
+            while True:
+                conn, addr = server.accept()
+                thread = threading.Thread(
+                    target=self._handle_client,
+                    args=(conn, addr),
+                    name=f"wifi6-gateway:{addr[0]}:{addr[1]}",
+                    daemon=True,
+                )
+                thread.start()
+
+    def _handle_client(self, conn: socket.socket, addr: tuple[str, int]) -> None:
+        with conn:
+            conn.settimeout(self.timeout_sec)
+            try:
+                msg_type, payload = read_frame(conn)
+                route = self.routes.get(msg_type)
+                if route is None:
+                    logging.warning("未知 WiFi6 frame_type=%d from %s:%d", msg_type, addr[0], addr[1])
+                    send_frame(conn, 0, json_error(f"unsupported wifi6 frame_type={msg_type}"))
+                    return
+                rsp_type, rsp_payload = self._forward(route, msg_type, payload)
+                send_frame(conn, rsp_type, rsp_payload)
+            except Exception as exc:
+                logging.warning("处理 WiFi6 gateway 请求失败: %s", exc)
+
+    def _forward(self, route: BackendRoute, msg_type: int, payload: bytes) -> tuple[int, bytes]:
+        try:
+            with socket.create_connection((route.host, route.port), timeout=self.timeout_sec) as backend:
+                backend.settimeout(self.timeout_sec)
+                send_frame(backend, msg_type, payload)
+                rsp_type, rsp_payload = read_frame(backend)
+                if rsp_type != route.response_type:
+                    return route.response_type, json_error(
+                        f"{route.name} backend response type mismatch: expected {route.response_type}, got {rsp_type}"
+                    )
+                return rsp_type, rsp_payload
+        except Exception as exc:
+            return route.response_type, json_error(
+                f"{route.name} backend unavailable at {route.host}:{route.port}: {exc}"
+            )
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="仿真车端统一 WiFi6 gateway")
+    parser.add_argument("--bind-host", default="0.0.0.0")
+    parser.add_argument("--vehicle-port", type=int, default=9000)
+    parser.add_argument("--timeout-sec", type=float, default=5.0)
+    parser.add_argument("--chassis-host", default="127.0.0.1")
+    parser.add_argument("--chassis-port", type=int, default=9001)
+    parser.add_argument("--control-host", default="127.0.0.1")
+    parser.add_argument("--control-port", type=int, default=9002)
+    parser.add_argument("--sensor-host", default="127.0.0.1")
+    parser.add_argument("--sensor-port", type=int, default=9003)
+    parser.add_argument("--external-pose-host", default="127.0.0.1")
+    parser.add_argument("--external-pose-port", type=int, default=9004)
+    parser.add_argument("--log-level", default="INFO")
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    logging.basicConfig(level=getattr(logging, args.log_level.upper(), logging.INFO), format="[%(levelname)s] %(message)s")
+    Wifi6GatewaySim(args).serve_forever()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/tools/workshop_sensor_ingest_sim.py b/agv_calib_brain/src/simulation/tools/workshop_sensor_ingest_sim.py
new file mode 100644
index 0000000..3f70684
--- /dev/null
+++ b/agv_calib_brain/src/simulation/tools/workshop_sensor_ingest_sim.py
@@ -0,0 +1,358 @@
+#!/usr/bin/env python3
+"""Workshop-side sensor ingest for the simulated WiFi6 TCP vehicle link."""
+
+from __future__ import annotations
+
+import argparse
+import base64
+import json
+import socket
+import struct
+import time
+from typing import Any
+
+import rclpy
+from sensor_msgs.msg import Image, Imu, LaserScan, PointCloud2, PointField
+
+
+SENSOR_GET_LATEST_FRAME_REQ = 23
+SENSOR_GET_LATEST_FRAME_RSP = 24
+SENSOR_LIST_SENSORS_REQ = 25
+SENSOR_LIST_SENSORS_RSP = 26
+
+PAYLOAD_IMAGE = 1
+PAYLOAD_POINT_CLOUD = 2
+PAYLOAD_LASER_SCAN = 3
+PAYLOAD_IMU = 4
+
+
+def read_exactly(conn: socket.socket, size: int) -> bytes:
+    chunks: list[bytes] = []
+    remaining = size
+    while remaining > 0:
+        chunk = conn.recv(remaining)
+        if not chunk:
+            raise ConnectionError("connection closed")
+        chunks.append(chunk)
+        remaining -= len(chunk)
+    return b"".join(chunks)
+
+
+def send_request(
+    host: str,
+    port: int,
+    msg_type: int,
+    payload: dict[str, Any],
+    timeout_sec: float,
+) -> tuple[int, dict[str, Any]]:
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    with socket.create_connection((host, port), timeout=timeout_sec) as conn:
+        conn.settimeout(timeout_sec)
+        conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+        header = read_exactly(conn, 8)
+        rsp_type, payload_len = struct.unpack("<II", header)
+        raw_payload = read_exactly(conn, payload_len) if payload_len else b"{}"
+    return rsp_type, json.loads(raw_payload.decode("utf-8"))
+
+
+def sanitize_topic_part(value: str) -> str:
+    cleaned = "".join(ch if ch.isalnum() or ch == "_" else "_" for ch in value)
+    return cleaned.strip("_") or "sensor"
+
+
+def topic_for(prefix: str, sensor_id: str, payload_type: int) -> str:
+    suffix_by_payload = {
+        PAYLOAD_IMAGE: "image_raw",
+        PAYLOAD_POINT_CLOUD: "pointcloud",
+        PAYLOAD_LASER_SCAN: "scan",
+        PAYLOAD_IMU: "data",
+    }
+    suffix = suffix_by_payload.get(payload_type, "frame")
+    return f"{prefix.rstrip('/')}/{sanitize_topic_part(sensor_id)}/{suffix}"
+
+
+def stamp_from_us(msg: Any, timestamp_us: int, frame_id: str) -> None:
+    msg.header.frame_id = frame_id
+    msg.header.stamp.sec = int(timestamp_us // 1_000_000)
+    msg.header.stamp.nanosec = int((timestamp_us % 1_000_000) * 1000)
+
+
+def decode_data(payload: dict[str, Any], field_name: str = "data") -> bytes:
+    encoded = payload.get(field_name, "")
+    if not encoded:
+        return b""
+    return base64.b64decode(encoded.encode("ascii"))
+
+
+def fixed_covariance(values: Any) -> list[float]:
+    result = [float(value) for value in list(values or [])[:9]]
+    while len(result) < 9:
+        result.append(0.0)
+    return result
+
+
+class WorkshopSensorIngestSim:
+    def __init__(self, args: argparse.Namespace):
+        self.args = args
+        self.node = rclpy.create_node("workshop_sensor_ingest_sim")
+        self.publishers: dict[str, Any] = {}
+        self.sensors: dict[str, dict[str, Any]] = {}
+        self.last_sensor_refresh_monotonic = 0.0
+        self.last_error_log_monotonic = 0.0
+        self.published_count = 0
+        self.fail_count = 0
+        self.timer = self.node.create_timer(1.0 / max(args.poll_hz, 0.1), self.poll_once)
+        self.node.get_logger().info(
+            f"workshop sensor ingest: {args.sensor_host}:{args.sensor_port} -> {args.publish_prefix}"
+        )
+
+    def log_error(self, message: str) -> None:
+        self.fail_count += 1
+        now = time.monotonic()
+        if now - self.last_error_log_monotonic >= self.args.error_log_interval_sec:
+            self.last_error_log_monotonic = now
+            self.node.get_logger().warning(f"{message}; fail_count={self.fail_count}")
+
+    def refresh_sensors(self) -> None:
+        now = time.monotonic()
+        if self.sensors and now - self.last_sensor_refresh_monotonic < self.args.sensor_refresh_interval_sec:
+            return
+        self.last_sensor_refresh_monotonic = now
+
+        rsp_type, payload = send_request(
+            self.args.sensor_host,
+            self.args.sensor_port,
+            SENSOR_LIST_SENSORS_REQ,
+            {},
+            self.args.timeout_sec,
+        )
+        if rsp_type != SENSOR_LIST_SENSORS_RSP or not payload.get("success", False):
+            raise RuntimeError(f"sensor list failed: type={rsp_type}, payload={payload}")
+
+        allowed = set(self.args.sensor_id)
+        sensors = {}
+        for sensor in payload.get("sensors", []):
+            sensor_id = str(sensor.get("sensor_id", ""))
+            if not sensor_id or (allowed and sensor_id not in allowed):
+                continue
+            if not bool(sensor.get("enabled", True)):
+                continue
+            sensors[sensor_id] = sensor
+            self.ensure_publisher(sensor_id, int(sensor.get("payload_type", 0) or 0))
+
+        self.sensors = sensors
+
+    def ensure_publisher(self, sensor_id: str, payload_type: int) -> None:
+        if sensor_id in self.publishers:
+            return
+        topic = topic_for(self.args.publish_prefix, sensor_id, payload_type)
+        if payload_type == PAYLOAD_IMAGE:
+            publisher = self.node.create_publisher(Image, topic, 10)
+        elif payload_type == PAYLOAD_POINT_CLOUD:
+            publisher = self.node.create_publisher(PointCloud2, topic, 10)
+        elif payload_type == PAYLOAD_LASER_SCAN:
+            publisher = self.node.create_publisher(LaserScan, topic, 10)
+        elif payload_type == PAYLOAD_IMU:
+            publisher = self.node.create_publisher(Imu, topic, 10)
+        else:
+            self.node.get_logger().warning(f"unsupported sensor payload_type={payload_type} for sensor_id={sensor_id}")
+            return
+        self.publishers[sensor_id] = publisher
+        self.node.get_logger().info(f"publish {sensor_id} frames to {topic}")
+
+    def poll_once(self) -> None:
+        try:
+            self.refresh_sensors()
+            for sensor_id in list(self.sensors):
+                frame = self.fetch_latest_frame(sensor_id)
+                self.publish_frame(frame)
+        except Exception as exc:
+            self.log_error(str(exc))
+
+    def fetch_latest_frame(self, sensor_id: str) -> dict[str, Any]:
+        first = self.request_frame_fragment(sensor_id, 0)
+        total_fragments = int(first.get("total_fragments", 1) or 1)
+        if total_fragments <= 1:
+            return first
+
+        payload_type = int(first.get("payload_type", 0) or 0)
+        if payload_type not in (PAYLOAD_IMAGE, PAYLOAD_POINT_CLOUD):
+            return first
+
+        stream_id = str(first.get("stream_id", ""))
+        raw_parts = [self.extract_raw_payload(first)]
+        for fragment_index in range(1, total_fragments):
+            fragment = self.request_frame_fragment(sensor_id, fragment_index)
+            if str(fragment.get("stream_id", "")) != stream_id:
+                raise RuntimeError(f"sensor_id={sensor_id} fragment stream changed while reassembling")
+            raw_parts.append(self.extract_raw_payload(fragment))
+        self.inject_raw_payload(first, b"".join(raw_parts))
+        first["fragment_index"] = 0
+        first["total_fragments"] = 1
+        first["is_final_fragment"] = True
+        return first
+
+    def request_frame_fragment(self, sensor_id: str, fragment_index: int) -> dict[str, Any]:
+        rsp_type, payload = send_request(
+            self.args.sensor_host,
+            self.args.sensor_port,
+            SENSOR_GET_LATEST_FRAME_REQ,
+            {
+                "sensor_id": sensor_id,
+                "include_payload": True,
+                "max_payload_bytes": self.args.max_payload_bytes,
+                "fragment_index": fragment_index,
+            },
+            self.args.timeout_sec,
+        )
+        if rsp_type != SENSOR_GET_LATEST_FRAME_RSP or not payload.get("success", False):
+            raise RuntimeError(f"latest frame failed for {sensor_id}: type={rsp_type}, payload={payload}")
+        return payload.get("sensor_frame", {})
+
+    @staticmethod
+    def extract_raw_payload(frame: dict[str, Any]) -> bytes:
+        payload_type = int(frame.get("payload_type", 0) or 0)
+        if payload_type == PAYLOAD_IMAGE:
+            return decode_data(frame.get("image", {}))
+        if payload_type == PAYLOAD_POINT_CLOUD:
+            return decode_data(frame.get("point_cloud", {}))
+        return b""
+
+    @staticmethod
+    def inject_raw_payload(frame: dict[str, Any], raw: bytes) -> None:
+        payload_type = int(frame.get("payload_type", 0) or 0)
+        encoded = base64.b64encode(raw).decode("ascii")
+        if payload_type == PAYLOAD_IMAGE:
+            frame.setdefault("image", {})["data"] = encoded
+        elif payload_type == PAYLOAD_POINT_CLOUD:
+            frame.setdefault("point_cloud", {})["data"] = encoded
+
+    def publish_frame(self, frame: dict[str, Any]) -> None:
+        header = frame.get("header", {})
+        sensor_id = str(header.get("sensor_id", ""))
+        payload_type = int(frame.get("payload_type", 0) or 0)
+        publisher = self.publishers.get(sensor_id)
+        if publisher is None:
+            self.ensure_publisher(sensor_id, payload_type)
+            publisher = self.publishers.get(sensor_id)
+        if publisher is None:
+            return
+
+        if payload_type == PAYLOAD_IMAGE:
+            publisher.publish(self.to_image(frame))
+        elif payload_type == PAYLOAD_POINT_CLOUD:
+            publisher.publish(self.to_point_cloud(frame))
+        elif payload_type == PAYLOAD_LASER_SCAN:
+            publisher.publish(self.to_laser_scan(frame))
+        elif payload_type == PAYLOAD_IMU:
+            publisher.publish(self.to_imu(frame))
+        else:
+            raise RuntimeError(f"unsupported payload_type={payload_type} for sensor_id={sensor_id}")
+        self.published_count += 1
+
+    def to_image(self, frame: dict[str, Any]) -> Image:
+        header = frame.get("header", {})
+        payload = frame.get("image", {})
+        msg = Image()
+        stamp_from_us(msg, int(header.get("hardware_timestamp_us", 0) or 0), str(header.get("frame_id", "")))
+        msg.width = int(payload.get("width", 0) or 0)
+        msg.height = int(payload.get("height", 0) or 0)
+        msg.encoding = str(payload.get("encoding", ""))
+        msg.is_bigendian = int(1 if payload.get("is_bigendian", False) else 0)
+        msg.step = int(payload.get("step", 0) or 0)
+        msg.data = decode_data(payload)
+        return msg
+
+    def to_point_cloud(self, frame: dict[str, Any]) -> PointCloud2:
+        header = frame.get("header", {})
+        payload = frame.get("point_cloud", {})
+        msg = PointCloud2()
+        stamp_from_us(msg, int(header.get("hardware_timestamp_us", 0) or 0), str(header.get("frame_id", "")))
+        msg.height = int(payload.get("height", 0) or 0)
+        msg.width = int(payload.get("width", 0) or 0)
+        msg.fields = [
+            PointField(
+                name=str(field.get("name", "")),
+                offset=int(field.get("offset", 0) or 0),
+                datatype=int(field.get("datatype", 0) or 0),
+                count=int(field.get("count", 0) or 0),
+            )
+            for field in payload.get("fields", [])
+        ]
+        msg.is_bigendian = bool(payload.get("is_bigendian", False))
+        msg.point_step = int(payload.get("point_step", 0) or 0)
+        msg.row_step = int(payload.get("row_step", 0) or 0)
+        msg.is_dense = bool(payload.get("is_dense", True))
+        msg.data = decode_data(payload)
+        return msg
+
+    def to_laser_scan(self, frame: dict[str, Any]) -> LaserScan:
+        header = frame.get("header", {})
+        payload = frame.get("laser_scan", {})
+        msg = LaserScan()
+        stamp_from_us(msg, int(header.get("hardware_timestamp_us", 0) or 0), str(header.get("frame_id", "")))
+        msg.angle_min = float(payload.get("angle_min_rad", 0.0) or 0.0)
+        msg.angle_max = float(payload.get("angle_max_rad", 0.0) or 0.0)
+        msg.angle_increment = float(payload.get("angle_increment_rad", 0.0) or 0.0)
+        msg.time_increment = float(payload.get("time_increment_sec", 0.0) or 0.0)
+        msg.scan_time = float(payload.get("scan_time_sec", 0.0) or 0.0)
+        msg.range_min = float(payload.get("range_min_m", 0.0) or 0.0)
+        msg.range_max = float(payload.get("range_max_m", 0.0) or 0.0)
+        msg.ranges = [float(value) for value in payload.get("ranges_m", [])]
+        msg.intensities = [float(value) for value in payload.get("intensities", [])]
+        return msg
+
+    def to_imu(self, frame: dict[str, Any]) -> Imu:
+        header = frame.get("header", {})
+        payload = frame.get("imu", {})
+        msg = Imu()
+        stamp_from_us(msg, int(header.get("hardware_timestamp_us", 0) or 0), str(header.get("frame_id", "")))
+        msg.orientation.x = float(payload.get("orientation_x", 0.0) or 0.0)
+        msg.orientation.y = float(payload.get("orientation_y", 0.0) or 0.0)
+        msg.orientation.z = float(payload.get("orientation_z", 0.0) or 0.0)
+        msg.orientation.w = float(payload.get("orientation_w", 1.0) or 1.0)
+        msg.orientation_covariance = fixed_covariance(payload.get("orientation_covariance", []))
+        angular_velocity = payload.get("angular_velocity", {})
+        msg.angular_velocity.x = float(angular_velocity.get("x", 0.0) or 0.0)
+        msg.angular_velocity.y = float(angular_velocity.get("y", 0.0) or 0.0)
+        msg.angular_velocity.z = float(angular_velocity.get("z", 0.0) or 0.0)
+        msg.angular_velocity_covariance = fixed_covariance(payload.get("angular_velocity_covariance", []))
+        linear_acceleration = payload.get("linear_acceleration", {})
+        msg.linear_acceleration.x = float(linear_acceleration.get("x", 0.0) or 0.0)
+        msg.linear_acceleration.y = float(linear_acceleration.get("y", 0.0) or 0.0)
+        msg.linear_acceleration.z = float(linear_acceleration.get("z", 0.0) or 0.0)
+        msg.linear_acceleration_covariance = fixed_covariance(payload.get("linear_acceleration_covariance", []))
+        return msg
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="车间侧传感器 WiFi6/TCP 接入仿真")
+    parser.add_argument("--sensor-host", default="127.0.0.1")
+    parser.add_argument("--sensor-port", type=int, default=9000)
+    parser.add_argument("--publish-prefix", default="/workshop/vehicle_sensor")
+    parser.add_argument("--poll-hz", type=float, default=15.0)
+    parser.add_argument("--max-payload-bytes", type=int, default=4 * 1024 * 1024)
+    parser.add_argument("--timeout-sec", type=float, default=2.0)
+    parser.add_argument("--sensor-id", action="append", default=[], help="只拉取指定 sensor_id，可重复")
+    parser.add_argument("--sensor-refresh-interval-sec", type=float, default=5.0)
+    parser.add_argument("--error-log-interval-sec", type=float, default=2.0)
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    rclpy.init(args=None)
+    ingest = WorkshopSensorIngestSim(args)
+    try:
+        rclpy.spin(ingest.node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        ingest.node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/vehicle_agent_sim/README.md b/agv_calib_brain/src/simulation/vehicle_agent_sim/README.md
new file mode 100644
index 0000000..a055b32
--- /dev/null
+++ b/agv_calib_brain/src/simulation/vehicle_agent_sim/README.md
@@ -0,0 +1,113 @@
+# 仿真车端代理
+
+这个模块模拟真实 Windows 小车上的车端电脑。
+
+它的职责是：
+
+- 监听与真实车端一致的 TCP 端口。
+- 接收 `vehicle_agent_gateway` 发来的底盘/运控请求。
+- 校验 `vehicle_id` 和动作参数。
+- 把被接受的动作转换为私有 Isaac 执行器话题。
+- 执行完成后返回标定任务结果。
+- 对底盘动作和运控评估做任务互斥，避免同时控制车辆。
+- 支持急停请求。
+- 通过 WiFi6/TCP 接收外部真值位姿，并对工控机下发的轨迹做闭环跟踪。
+- 订阅底盘遥测作为速度反馈，不把底盘里程计作为默认全局位姿源。
+- 发布车端电脑与车辆本体之间的内部阿克曼控制命令、车辆状态、健康状态和时间同步状态。
+
+默认私有控制话题：
+
+```text
+/vehicle/<vehicle_id>/actuator/cmd_vel
+```
+
+默认车辆内部话题：
+
+```text
+/vehicle/<vehicle_id>/internal/ackermann_cmd
+/vehicle/<vehicle_id>/internal/state
+/vehicle/<vehicle_id>/internal/health
+/vehicle/<vehicle_id>/internal/time_sync_status
+```
+
+默认一键仿真的 TCP 端口：
+
+```text
+9000 车端统一 WiFi6/TCP 入口，由 isaac_vehicle_unified_agent_sim.py 对外暴露
+```
+
+车间工控机不应该直接发布这个话题。它应该通过：
+
+```text
+workshop_orchestrator -> vehicle_agent_gateway -> vehicle_agent_sim -> Isaac cmd_vel
+```
+
+在默认仿真部署中，`vehicle_agent_gateway` 实际连接的是 `9000` 统一入口；不同 frame_type 在统一车端 agent 内部分发。
+
+启动：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+```
+
+直接启动脚本：
+
+```bash
+source install/setup.bash
+python3 src/simulation/tools/isaac_vehicle_unified_agent_sim.py \
+  --vehicle-id demo_agv_001 \
+  --vehicle-port 9000 \
+  --cmd-vel-topic /vehicle/demo_agv_001/actuator/cmd_vel \
+  --external-pose-topic /isaac/external_localization/telemetry \
+  --external-pose-transport wifi6_tcp \
+  --chassis-telemetry-topic /chassis/telemetry
+```
+
+验收：
+
+```bash
+source install/setup.bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py
+```
+
+小距离运动验收：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py --motion
+```
+
+底盘动作和运控评估一起验收：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py --motion --control-eval
+```
+
+无 Isaac 时验证轨迹接口：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py --trajectory --fake-telemetry
+```
+
+验证分段轨迹下发：
+
+```bash
+python3 src/simulation/tools/smoke_test_vehicle_agent.py --trajectory --fake-telemetry --split-trajectory
+```
+
+外部真值链路：
+
+- `external_pose_wifi6_bridge.py` 订阅 Isaac 或外部真值系统发布的 `ExternalLocalizationTelemetry`。
+- 桥接程序把位姿按 31/32 帧类型推送到车端统一 `9000` 端口，再由统一车端 agent 写入车端位姿缓存。
+- 车端只把底盘里程计作为显式降级输入，不作为默认全局位姿源。
+
+当前支持的仿真任务：
+
+- 底盘直线动作
+- 底盘圆弧动作
+- 运控轨迹跟踪，基于 WiFi6/TCP 外部真值位姿做 Pure Pursuit 闭环控制；短轨迹默认整包下发，长轨迹可用 `trajectory_id`、`segment_index`、`total_segments` 分段上传，最后一段触发拼接执行
+- 运控速度阶跃
+- 运控加减速
+- 运控停车精度的简化执行
+- 车辆内部接口仿真：阿克曼命令、底盘状态、健康诊断、时间同步
+
+现场部署时，外部真值/定位系统也应按同一语义经 WiFi 6 传到车端；仿真中由 Isaac 的 external truth 发布器提供同形态数据，再由桥接程序转成 TCP 输入。
diff --git a/agv_calib_brain/src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py b/agv_calib_brain/src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py
new file mode 100644
index 0000000..cd505f2
--- /dev/null
+++ b/agv_calib_brain/src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py
@@ -0,0 +1,1300 @@
+#!/usr/bin/env python3
+"""Vehicle-side simulator agent for Isaac validation.
+
+This process simulates the vehicle computer. It exposes the same TCP frame
+protocol used by the real vehicle-side agent and owns the private actuator
+command topic that drives the Isaac vehicle.
+"""
+
+import argparse
+import json
+import math
+import socket
+import socketserver
+import struct
+import threading
+import time
+
+import rclpy
+from geometry_msgs.msg import Twist
+
+try:
+    from calibration_chassis_interfaces.msg import ChassisTelemetry
+except ImportError:
+    ChassisTelemetry = None
+
+try:
+    from calibration_external_localization_interfaces.msg import ExternalLocalizationTelemetry
+except ImportError:
+    ExternalLocalizationTelemetry = None
+
+try:
+    from vehicle_internal_interfaces.msg import (
+        AckermannDriveCommand,
+        VehicleControlMode,
+        VehicleHealthStatus,
+        VehicleInternalState,
+        VehicleTimeSyncStatus,
+    )
+except ImportError:
+    AckermannDriveCommand = None
+    VehicleControlMode = None
+    VehicleHealthStatus = None
+    VehicleInternalState = None
+    VehicleTimeSyncStatus = None
+
+
+CHASSIS_GET_READINESS_REQ = 1
+CHASSIS_GET_READINESS_RSP = 2
+CHASSIS_MOTION_PRIMITIVE_REQ = 3
+CHASSIS_MOTION_PRIMITIVE_RSP = 4
+CHASSIS_EMERGENCY_BRAKE_REQ = 5
+CHASSIS_EMERGENCY_BRAKE_RSP = 6
+CONTROL_GET_READINESS_REQ = 11
+CONTROL_GET_READINESS_RSP = 12
+CONTROL_EVALUATION_REQ = 13
+CONTROL_EVALUATION_RSP = 14
+EXTERNAL_POSE_PUSH_REQ = 31
+EXTERNAL_POSE_PUSH_RSP = 32
+
+ERROR_OK = 1
+ERROR_INVALID_ARGUMENT = 2
+ERROR_INVALID_STATE = 3
+ERROR_VEHICLE_BUSY = 4
+ERROR_UNSUPPORTED_CAPABILITY = 13
+
+
+def now_us():
+    return int(time.time() * 1_000_000)
+
+
+def clamp(value, lower, upper):
+    return max(lower, min(upper, value))
+
+
+def normalize_angle(angle):
+    while angle > math.pi:
+        angle -= 2.0 * math.pi
+    while angle < -math.pi:
+        angle += 2.0 * math.pi
+    return angle
+
+
+def read_exactly(conn, count):
+    chunks = []
+    remaining = count
+    while remaining > 0:
+        chunk = conn.recv(remaining)
+        if not chunk:
+            raise ConnectionError("connection closed")
+        chunks.append(chunk)
+        remaining -= len(chunk)
+    return b"".join(chunks)
+
+
+def send_frame(conn, msg_type, payload):
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+
+
+def read_frame(conn):
+    header = read_exactly(conn, 8)
+    msg_type, payload_len = struct.unpack("<II", header)
+    payload = read_exactly(conn, payload_len).decode("utf-8") if payload_len else "{}"
+    return msg_type, json.loads(payload)
+
+
+class IsaacVehicleAgentSim:
+    def __init__(self, args):
+        self.args = args
+        self.node = rclpy.create_node("isaac_vehicle_agent_sim")
+        self.publisher = self.node.create_publisher(Twist, args.cmd_vel_topic, 10)
+        self.lock = threading.Lock()
+        self.state_lock = threading.Lock()
+        self.active_job_id = ""
+        self.active_domain = ""
+        self.stop_requested = False
+        self.last_motion_summary = {}
+        self.last_control_summary = {}
+        self.latest_pose = None
+        self.latest_velocity = None
+        self.latest_internal_command = {
+            "linear_x": 0.0,
+            "angular_z": 0.0,
+            "steering_angle": 0.0,
+            "stamp": time.monotonic(),
+        }
+        self.trajectory_segment_cache = {}
+        self.external_pose_subscription = None
+        self.chassis_subscription = None
+        self.internal_ackermann_command_publisher = None
+        self.internal_state_publisher = None
+        self.health_status_publisher = None
+        self.time_sync_status_publisher = None
+        if args.external_pose_transport in ("ros_topic", "both") and ExternalLocalizationTelemetry is not None:
+            self.external_pose_subscription = self.node.create_subscription(
+                ExternalLocalizationTelemetry,
+                args.external_pose_topic,
+                self.on_external_pose,
+                20,
+            )
+        elif args.external_pose_transport in ("ros_topic", "both"):
+            print("[WARN] calibration_external_localization_interfaces is unavailable; external pose feedback is disabled.")
+        else:
+            print(f"[*] external pose ROS subscription disabled; transport={args.external_pose_transport}")
+        if ChassisTelemetry is not None:
+            self.chassis_subscription = self.node.create_subscription(
+                ChassisTelemetry,
+                args.chassis_telemetry_topic,
+                self.on_chassis_telemetry,
+                20,
+            )
+        else:
+            print("[WARN] calibration_chassis_interfaces is unavailable; chassis velocity feedback is disabled.")
+
+        if AckermannDriveCommand is not None:
+            self.internal_ackermann_command_publisher = self.node.create_publisher(
+                AckermannDriveCommand,
+                args.internal_ackermann_command_topic,
+                10,
+            )
+            self.internal_state_publisher = self.node.create_publisher(
+                VehicleInternalState,
+                args.internal_state_topic,
+                10,
+            )
+            self.health_status_publisher = self.node.create_publisher(
+                VehicleHealthStatus,
+                args.internal_health_topic,
+                10,
+            )
+            self.time_sync_status_publisher = self.node.create_publisher(
+                VehicleTimeSyncStatus,
+                args.internal_time_sync_topic,
+                10,
+            )
+            self.node.create_timer(0.1, self.publish_internal_state)
+            self.node.create_timer(0.5, self.publish_health_status)
+            self.node.create_timer(0.5, self.publish_time_sync_status)
+        else:
+            print("[WARN] vehicle_internal_interfaces is unavailable; internal vehicle topics are disabled.")
+
+    def has_recent_pose_unlocked(self):
+        if self.latest_pose is None:
+            return False
+        return (time.monotonic() - self.latest_pose["stamp"]) <= self.args.pose_stale_timeout_sec
+
+    def on_external_pose(self, msg):
+        if not bool(msg.pose_valid):
+            return
+        if float(msg.quality_score) < self.args.external_pose_min_quality:
+            return
+        self.store_external_pose(
+            hardware_timestamp_us=int(msg.hardware_timestamp_us),
+            x_m=float(msg.workshop_pose.x_m),
+            y_m=float(msg.workshop_pose.y_m),
+            yaw_rad=float(msg.workshop_pose.yaw_rad),
+            source=str(msg.reference_source_name or "external_truth"),
+            position_stddev_m=float(msg.position_stddev_m),
+            yaw_stddev_rad=float(msg.yaw_stddev_rad),
+            quality_score=float(msg.quality_score),
+        )
+
+    def store_external_pose(self, hardware_timestamp_us, x_m, y_m, yaw_rad, source, position_stddev_m, yaw_stddev_rad, quality_score):
+        with self.state_lock:
+            self.latest_pose = {
+                "x": float(x_m),
+                "y": float(y_m),
+                "yaw": float(yaw_rad),
+                "stamp": time.monotonic(),
+                "hardware_timestamp_us": int(hardware_timestamp_us),
+                "source": str(source or "external_truth_wifi6"),
+                "position_stddev_m": float(position_stddev_m),
+                "yaw_stddev_rad": float(yaw_stddev_rad),
+                "quality_score": float(quality_score),
+            }
+
+    def handle_external_pose_push(self, request):
+        try:
+            pose_valid = bool(request.get("pose_valid", True))
+            if not pose_valid:
+                return {
+                    "success": True,
+                    "error_code": {"code": ERROR_OK},
+                    "message": "external pose ignored because pose_valid=false",
+                }
+            quality_score = float(request.get("quality_score", 1.0) or 0.0)
+            if quality_score < self.args.external_pose_min_quality:
+                return {
+                    "success": True,
+                    "error_code": {"code": ERROR_OK},
+                    "message": "external pose ignored because quality is below threshold",
+                }
+            pose = request.get("workshop_pose", {})
+            self.store_external_pose(
+                hardware_timestamp_us=int(request.get("hardware_timestamp_us", now_us()) or now_us()),
+                x_m=float(pose.get("x_m", 0.0) or 0.0),
+                y_m=float(pose.get("y_m", 0.0) or 0.0),
+                yaw_rad=float(pose.get("yaw_rad", 0.0) or 0.0),
+                source=str(request.get("reference_source_name", "external_truth_wifi6") or "external_truth_wifi6"),
+                position_stddev_m=float(request.get("position_stddev_m", 0.0) or 0.0),
+                yaw_stddev_rad=float(request.get("yaw_stddev_rad", 0.0) or 0.0),
+                quality_score=quality_score,
+            )
+            return {
+                "success": True,
+                "error_code": {"code": ERROR_OK},
+                "message": "external pose accepted over wifi6_sim_tcp",
+                "accepted_timestamp_us": now_us(),
+            }
+        except Exception as exc:
+            return {
+                "success": False,
+                "error_code": {"code": ERROR_INVALID_ARGUMENT},
+                "message": str(exc),
+            }
+
+    def on_chassis_telemetry(self, msg):
+        with self.state_lock:
+            self.latest_velocity = {
+                "linear_velocity": float(msg.linear_velocity_ms),
+                "angular_velocity": float(msg.angular_velocity_rads),
+                "stamp": time.monotonic(),
+            }
+            if self.args.allow_chassis_pose_fallback and not self.has_recent_pose_unlocked():
+                self.latest_pose = {
+                    "x": float(msg.odom_x_m),
+                    "y": float(msg.odom_y_m),
+                    "yaw": float(msg.odom_yaw_rad),
+                    "stamp": time.monotonic(),
+                    "hardware_timestamp_us": int(msg.hardware_timestamp_us),
+                    "source": "chassis_telemetry_fallback",
+                    "position_stddev_m": 0.0,
+                    "yaw_stddev_rad": 0.0,
+                    "quality_score": 1.0,
+                }
+
+    def get_vehicle_state(self):
+        with self.state_lock:
+            if self.latest_pose is None:
+                return None
+            velocity = self.latest_velocity or {}
+            return {
+                "x": float(self.latest_pose["x"]),
+                "y": float(self.latest_pose["y"]),
+                "yaw": float(self.latest_pose["yaw"]),
+                "linear_velocity": float(velocity.get("linear_velocity", 0.0)),
+                "angular_velocity": float(velocity.get("angular_velocity", 0.0)),
+                "stamp": float(self.latest_pose["stamp"]),
+                "hardware_timestamp_us": int(self.latest_pose["hardware_timestamp_us"]),
+                "pose_source": self.latest_pose["source"],
+                "position_stddev_m": float(self.latest_pose.get("position_stddev_m", 0.0)),
+                "yaw_stddev_rad": float(self.latest_pose.get("yaw_stddev_rad", 0.0)),
+                "quality_score": float(self.latest_pose.get("quality_score", 0.0)),
+            }
+
+    def trajectory_pose_constraints(self, task):
+        required_source = str(task.get("required_external_pose_source_id", "") or "")
+        max_age_ms = float(task.get("max_external_pose_age_ms", 0.0) or 0.0)
+        min_quality = float(task.get("min_external_pose_quality_score", 0.0) or 0.0)
+        return {
+            "required_source": required_source,
+            "max_age_sec": (max_age_ms / 1000.0) if max_age_ms > 0.0 else self.args.pose_stale_timeout_sec,
+            "min_quality": min_quality if min_quality > 0.0 else self.args.external_pose_min_quality,
+        }
+
+    def state_pose_constraint_error(self, state, constraints):
+        if state is None:
+            return "external pose unavailable"
+
+        age_sec = time.monotonic() - state["stamp"]
+        if age_sec > constraints["max_age_sec"]:
+            return f"external pose stale: age={age_sec:.3f}s, limit={constraints['max_age_sec']:.3f}s"
+
+        required_source = constraints["required_source"]
+        pose_source = str(state.get("pose_source", ""))
+        if required_source and pose_source != required_source:
+            return f"external pose source mismatch: expected {required_source}, got {pose_source}"
+
+        quality_score = float(state.get("quality_score", 0.0))
+        if quality_score < constraints["min_quality"]:
+            return f"external pose quality too low: score={quality_score:.3f}, limit={constraints['min_quality']:.3f}"
+
+        return ""
+
+    def get_chassis_velocity_state(self):
+        with self.state_lock:
+            return dict(self.latest_velocity) if self.latest_velocity is not None else None
+
+    def get_pose_status(self):
+        transport_label = "wifi6_sim_tcp" if self.args.external_pose_transport == "wifi6_tcp" else self.args.external_pose_transport
+        endpoint = (
+            f"{self.args.bind_host}:{self.args.external_pose_port}"
+            if self.args.external_pose_transport in ("wifi6_tcp", "both")
+            else self.args.external_pose_topic
+        )
+        with self.state_lock:
+            if self.latest_pose is None:
+                return {
+                    "ready": False,
+                    "source": "",
+                    "age_sec": 0.0,
+                    "quality_score": 0.0,
+                    "topic": self.args.external_pose_topic,
+                    "transport": transport_label,
+                    "endpoint": endpoint,
+                }
+            age_sec = time.monotonic() - self.latest_pose["stamp"]
+            return {
+                "ready": age_sec <= self.args.pose_stale_timeout_sec,
+                "source": self.latest_pose["source"],
+                "age_sec": age_sec,
+                "quality_score": float(self.latest_pose.get("quality_score", 0.0)),
+                "topic": self.args.external_pose_topic,
+                "transport": transport_label,
+                "endpoint": endpoint,
+            }
+
+    def has_recent_vehicle_state(self):
+        state = self.get_vehicle_state()
+        if state is None:
+            return False
+        return (time.monotonic() - state["stamp"]) <= self.args.pose_stale_timeout_sec
+
+    def wait_for_vehicle_state(self, constraints=None):
+        if constraints is None:
+            constraints = {
+                "required_source": "",
+                "max_age_sec": self.args.pose_stale_timeout_sec,
+                "min_quality": self.args.external_pose_min_quality,
+            }
+
+        deadline = time.monotonic() + self.args.pose_wait_timeout_sec
+        last_error = "external pose unavailable"
+        while time.monotonic() < deadline and not self.stop_requested:
+            state = self.get_vehicle_state()
+            last_error = self.state_pose_constraint_error(state, constraints)
+            if not last_error:
+                return state
+            time.sleep(0.02)
+        raise ValueError(
+            f"trajectory_tracking requires valid external pose via {self.args.external_pose_transport}: {last_error}"
+        )
+
+    def motion_duration_limit(self, request):
+        request_timeout = float(request.get("timeout_sec", 0.0) or 0.0)
+        if request_timeout > 0.0:
+            return min(request_timeout, self.args.max_motion_duration_sec)
+        return self.args.max_motion_duration_sec
+
+    def readiness_payload(self, domain):
+        busy = bool(self.active_job_id)
+        pose_status = self.get_pose_status()
+        feedback_ready = pose_status["ready"]
+        common = {
+            "success": not busy,
+            "error_code": {"code": ERROR_OK if not busy else ERROR_VEHICLE_BUSY},
+            "message": (
+                f"Isaac vehicle agent sim: {domain} ready."
+                if not busy
+                else f"Isaac vehicle agent sim: busy with {self.active_domain}:{self.active_job_id}."
+            ),
+            "agent_ready": not busy,
+            "estop_released": True,
+            "vehicle_safe_to_move": not busy,
+            "checked_timestamp_us": now_us(),
+        }
+        if domain == "chassis":
+            common.update({
+                "chassis_driver_online": True,
+                "motion_control_ready": not busy,
+                "telemetry_available": True,
+            })
+        else:
+            common.update({
+                "trajectory_executor_ready": not busy,
+                "vehicle_feedback_ready": feedback_ready,
+                "control_output_ready": not busy,
+                "external_pose_topic": self.args.external_pose_topic,
+                "velocity_feedback_topic": self.args.chassis_telemetry_topic,
+                "pose_source": pose_status["source"],
+                "pose_age_sec": pose_status["age_sec"],
+                "external_pose_feedback_ready": feedback_ready,
+                "external_pose_source_name": pose_status["source"],
+                "external_pose_age_ms": pose_status["age_sec"] * 1000.0,
+                "external_pose_quality_score": pose_status["quality_score"],
+                "external_pose_transport": pose_status["transport"],
+                "external_pose_endpoint": pose_status["endpoint"],
+            })
+        return common
+
+    def publish_cmd(self, linear_x, angular_z):
+        msg = Twist()
+        msg.linear.x = float(linear_x)
+        msg.angular.z = float(angular_z)
+        self.publisher.publish(msg)
+        self.publish_internal_ackermann_command(linear_x, angular_z)
+
+    def ackermann_steering_angle(self, linear_x, angular_z):
+        linear_x = float(linear_x)
+        angular_z = float(angular_z)
+        if abs(linear_x) <= 1e-4 or abs(angular_z) <= 1e-4:
+            return 0.0
+        angle = math.atan(self.args.wheel_base_m * angular_z / linear_x)
+        return clamp(angle, -self.args.max_steering_angle_rad, self.args.max_steering_angle_rad)
+
+    def internal_control_mode_value(self):
+        if VehicleControlMode is None:
+            return 0
+        if self.stop_requested:
+            return VehicleControlMode.CALIBRATION
+        if self.active_job_id:
+            return VehicleControlMode.CALIBRATION
+        return VehicleControlMode.AUTO
+
+    def publish_internal_ackermann_command(self, linear_x, angular_z):
+        if self.internal_ackermann_command_publisher is None:
+            return
+
+        steering_angle = self.ackermann_steering_angle(linear_x, angular_z)
+        with self.state_lock:
+            self.latest_internal_command = {
+                "linear_x": float(linear_x),
+                "angular_z": float(angular_z),
+                "steering_angle": float(steering_angle),
+                "stamp": time.monotonic(),
+            }
+
+        msg = AckermannDriveCommand()
+        msg.command_timestamp_us = now_us()
+        msg.command_id = f"isaac_cmd_{msg.command_timestamp_us}"
+        msg.source = "isaac_vehicle_agent_sim"
+        msg.control_mode.value = self.internal_control_mode_value()
+        msg.target_speed_ms = float(linear_x)
+        msg.target_accel_ms2 = 0.0
+        msg.target_steering_angle_rad = float(steering_angle)
+        msg.target_steering_rate_rads = 0.0
+        msg.brake_command = 1.0 if abs(float(linear_x)) < 1e-5 and abs(float(angular_z)) < 1e-5 else 0.0
+        msg.throttle_command = min(1.0, abs(float(linear_x)) / max(self.args.max_speed_mps, 1e-6))
+        msg.command_timeout_sec = self.args.internal_command_timeout_sec
+        msg.stop_when_timeout = True
+        self.internal_ackermann_command_publisher.publish(msg)
+
+    def publish_internal_state(self):
+        if self.internal_state_publisher is None:
+            return
+
+        velocity = self.get_chassis_velocity_state() or {}
+        with self.state_lock:
+            command = dict(self.latest_internal_command)
+        speed = float(velocity.get("linear_velocity", command.get("linear_x", 0.0)))
+        yaw_rate = float(velocity.get("angular_velocity", command.get("angular_z", 0.0)))
+        steering_angle = float(command.get("steering_angle", 0.0))
+
+        msg = VehicleInternalState()
+        msg.hardware_timestamp_us = now_us()
+        msg.current_mode.value = self.internal_control_mode_value()
+        msg.vehicle_enabled = True
+        msg.estop_engaged = False
+        msg.calibration_low_speed_mode = bool(self.active_job_id)
+        msg.fault_active = False
+        msg.primary_fault_code = ""
+        msg.primary_fault_message = ""
+        msg.ackermann_state.hardware_timestamp_us = msg.hardware_timestamp_us
+        msg.ackermann_state.actual_speed_ms = speed
+        msg.ackermann_state.actual_accel_ms2 = 0.0
+        msg.ackermann_state.actual_steering_angle_rad = steering_angle
+        msg.ackermann_state.actual_steering_rate_rads = 0.0
+        msg.ackermann_state.rear_left_wheel_speed_ms = speed
+        msg.ackermann_state.rear_right_wheel_speed_ms = speed
+        msg.ackermann_state.front_left_steering_angle_rad = steering_angle
+        msg.ackermann_state.front_right_steering_angle_rad = steering_angle
+        msg.ackermann_state.drive_motor_current_amp = 0.8 + abs(speed) * 2.0
+        msg.ackermann_state.steering_motor_current_amp = 0.4 + abs(steering_angle) * 1.5
+        msg.ackermann_state.brake_pressure = 1.0 if abs(speed) < 1e-4 and abs(command.get("linear_x", 0.0)) < 1e-4 else 0.0
+        msg.ackermann_state.throttle_output = min(1.0, abs(command.get("linear_x", 0.0)) / max(self.args.max_speed_mps, 1e-6))
+        msg.battery_voltage_v = 48.0
+        msg.battery_current_amp = msg.ackermann_state.drive_motor_current_amp
+        msg.battery_soc = 0.85
+        msg.yaw_rate_rads = yaw_rate
+        msg.lateral_accel_ms2 = speed * yaw_rate
+        self.internal_state_publisher.publish(msg)
+
+    def publish_health_status(self):
+        if self.health_status_publisher is None:
+            return
+
+        pose_status = self.get_pose_status()
+        msg = VehicleHealthStatus()
+        msg.hardware_timestamp_us = now_us()
+        msg.vehicle_agent_online = True
+        msg.vehicle_controller_online = True
+        msg.drive_controller_online = True
+        msg.steering_controller_online = True
+        msg.sensor_bus_online = True
+        msg.vehicle_bus_online = True
+        msg.external_truth_link_online = bool(pose_status["ready"])
+        msg.vehicle_bus_rx_hz = self.args.publish_hz
+        msg.vehicle_bus_drop_ratio = 0.0
+        msg.command_latency_ms = 1.0
+        msg.telemetry_latency_ms = pose_status["age_sec"] * 1000.0 if pose_status["ready"] else 0.0
+        msg.cpu_load_ratio = 0.0
+        msg.memory_used_ratio = 0.0
+        msg.disk_used_ratio = 0.0
+        msg.temperature_c = 40.0
+        msg.healthy = True
+        msg.diagnostic_code = "OK"
+        msg.diagnostic_message = "isaac vehicle internal health is nominal"
+        self.health_status_publisher.publish(msg)
+
+    def publish_time_sync_status(self):
+        if self.time_sync_status_publisher is None:
+            return
+
+        pose_status = self.get_pose_status()
+        msg = VehicleTimeSyncStatus()
+        msg.hardware_timestamp_us = now_us()
+        msg.sync_source = "sim_clock"
+        msg.synchronized = True
+        msg.system_to_sensor_offset_ms = 0.0
+        msg.system_to_external_truth_offset_ms = pose_status["age_sec"] * 1000.0 if pose_status["ready"] else 0.0
+        msg.jitter_ms = 1.0
+        msg.max_offset_ms = 2.0
+        msg.sync_transport_latency_ms = 1.0
+        msg.status_message = "simulated time sync status"
+        self.time_sync_status_publisher.publish(msg)
+
+    def stop(self):
+        self.stop_requested = True
+        for _ in range(5):
+            self.publish_cmd(0.0, 0.0)
+            time.sleep(0.02)
+
+    def validate_request_vehicle_id(self, request):
+        header = request.get("header", {})
+        request_vehicle_id = header.get("vehicle_id", self.args.vehicle_id)
+        if request_vehicle_id and request_vehicle_id != self.args.vehicle_id:
+            raise ValueError(f"vehicle_id mismatch: expected {self.args.vehicle_id}, got {request_vehicle_id}")
+        return header.get("request_id", f"sim_job_{now_us()}")
+
+    def execute_straight_line(self, request):
+        straight = request.get("straight_line", {})
+        speed = abs(float(straight.get("target_speed_ms", 0.1)))
+        distance = abs(float(straight.get("target_distance_m", 0.0)))
+        reverse = bool(straight.get("reverse", False))
+        if speed <= 0.0 or distance <= 0.0:
+            raise ValueError("straight_line requires positive target_speed_ms and target_distance_m")
+        speed = min(speed, self.args.max_speed_mps)
+        linear = -speed if reverse else speed
+        duration = min(distance / speed, self.motion_duration_limit(request))
+        self.run_velocity_for(linear, 0.0, duration)
+
+    def execute_arc(self, request):
+        arc = request.get("arc", {})
+        speed = abs(float(arc.get("target_speed_ms", 0.1)))
+        radius = abs(float(arc.get("radius_m", 1.0)))
+        sweep = abs(float(arc.get("sweep_angle_deg", 0.0)))
+        clockwise = bool(arc.get("clockwise", False))
+        if speed <= 0.0 or radius <= 0.0 or sweep <= 0.0:
+            raise ValueError("arc requires positive speed, radius, and sweep angle")
+        speed = min(speed, self.args.max_speed_mps)
+        angular = speed / radius
+        if clockwise:
+            angular = -angular
+        duration = min(math.radians(sweep) / abs(angular), self.motion_duration_limit(request))
+        self.run_velocity_for(speed, angular, duration)
+
+    def run_velocity_for(self, linear_x, angular_z, duration):
+        period = 1.0 / self.args.publish_hz
+        deadline = time.monotonic() + max(0.0, duration)
+        self.stop_requested = False
+        samples = 0
+        while time.monotonic() < deadline and not self.stop_requested:
+            self.publish_cmd(linear_x, angular_z)
+            rclpy.spin_once(self.node, timeout_sec=0.0)
+            samples += 1
+            time.sleep(period)
+        self.stop()
+        self.last_motion_summary = {
+            "duration_sec": max(0.0, duration),
+            "commanded_linear_x_ms": float(linear_x),
+            "commanded_angular_z_rads": float(angular_z),
+            "samples": samples,
+            "stopped_by_request": bool(self.stop_requested and time.monotonic() < deadline),
+        }
+
+    def run_ramp_velocity(self, start_linear_x, target_linear_x, angular_z, ramp_duration, hold_duration):
+        period = 1.0 / self.args.publish_hz
+        self.stop_requested = False
+        samples = 0
+        ramp_duration = max(0.0, ramp_duration)
+        hold_duration = max(0.0, hold_duration)
+        ramp_deadline = time.monotonic() + ramp_duration
+        start_time = time.monotonic()
+        while time.monotonic() < ramp_deadline and not self.stop_requested:
+            alpha = (time.monotonic() - start_time) / max(ramp_duration, 1e-6)
+            linear_x = start_linear_x + (target_linear_x - start_linear_x) * max(0.0, min(1.0, alpha))
+            self.publish_cmd(linear_x, angular_z)
+            rclpy.spin_once(self.node, timeout_sec=0.0)
+            samples += 1
+            time.sleep(period)
+
+        hold_deadline = time.monotonic() + hold_duration
+        while time.monotonic() < hold_deadline and not self.stop_requested:
+            self.publish_cmd(target_linear_x, angular_z)
+            rclpy.spin_once(self.node, timeout_sec=0.0)
+            samples += 1
+            time.sleep(period)
+
+        stopped_by_request = bool(self.stop_requested)
+        self.stop()
+        self.last_motion_summary = {
+            "duration_sec": ramp_duration + hold_duration,
+            "commanded_linear_x_ms": float(target_linear_x),
+            "commanded_angular_z_rads": float(angular_z),
+            "samples": samples,
+            "stopped_by_request": stopped_by_request,
+        }
+
+    def handle_motion_primitive(self, request):
+        try:
+            job_id = self.validate_request_vehicle_id(request)
+        except ValueError as exc:
+            return self.chassis_job_result(
+                f"sim_rejected_{now_us()}",
+                False,
+                ERROR_INVALID_ARGUMENT,
+                str(exc),
+            )
+
+        with self.lock:
+            if self.active_job_id:
+                return self.chassis_job_result(
+                    job_id,
+                    False,
+                    ERROR_VEHICLE_BUSY,
+                    f"vehicle is busy with {self.active_domain}:{self.active_job_id}",
+                )
+            self.active_job_id = job_id
+            self.active_domain = "chassis"
+            selected = int(request.get("selected_primitive", 0))
+            try:
+                if selected == 1:
+                    self.execute_straight_line(request)
+                elif selected == 2:
+                    self.execute_arc(request)
+                else:
+                    return self.chassis_job_result(
+                        job_id,
+                        False,
+                        ERROR_UNSUPPORTED_CAPABILITY,
+                        f"unsupported simulated primitive: {selected}",
+                    )
+            except Exception as exc:
+                self.stop()
+                return self.chassis_job_result(job_id, False, ERROR_INVALID_ARGUMENT, str(exc))
+            finally:
+                self.active_job_id = ""
+                self.active_domain = ""
+
+        return self.chassis_job_result(job_id, True, ERROR_OK, "Isaac simulated motion primitive completed.")
+
+    def chassis_job_result(self, job_id, success, error_code, message):
+        summary = dict(self.last_motion_summary)
+        return {
+            "success": success,
+            "error_code": {"code": error_code},
+            "message": message,
+            "job_id": job_id,
+            "data_quality_passed": success,
+            "suitable_for_commit": success,
+            "recommended_parameter_version": "isaac_vehicle_agent_sim_v1",
+            "validation_summary": {
+                "max_lateral_error_m": 0.0,
+                "max_yaw_error_rad": 0.0,
+                "rms_lateral_error_m": 0.0,
+                "rms_yaw_error_rad": 0.0,
+                "repeatability_error_m": 0.0,
+                "curvature_error": 0.0,
+                "module_consistency_error": 0.0,
+                "auto_acceptance_passed": success,
+            },
+            "artifacts": [
+                {
+                    "file_name": "sim_chassis_motion_summary.json",
+                    "file_uri": "memory://vehicle_agent_sim/chassis_motion_summary",
+                    "size_bytes": 0,
+                    "description": json.dumps(summary, ensure_ascii=False, separators=(",", ":")),
+                }
+            ] if summary else [],
+        }
+
+    def parse_trajectory_path(self, raw_path):
+        if len(raw_path) < 2:
+            raise ValueError("trajectory_tracking requires at least two path points")
+
+        path = []
+        for index, point in enumerate(raw_path):
+            try:
+                x_m = float(point.get("x_m"))
+                y_m = float(point.get("y_m"))
+            except (TypeError, ValueError) as exc:
+                raise ValueError(f"trajectory point {index} requires numeric x_m and y_m") from exc
+
+            target_speed = abs(float(point.get("target_speed_ms", 0.0) or 0.0))
+            path.append({
+                "x": x_m,
+                "y": y_m,
+                "yaw": float(point.get("yaw_rad", 0.0) or 0.0),
+                "speed": target_speed,
+            })
+
+        cumulative = [0.0]
+        for index in range(len(path) - 1):
+            segment = math.hypot(path[index + 1]["x"] - path[index]["x"], path[index + 1]["y"] - path[index]["y"])
+            if segment <= 1e-6:
+                raise ValueError(f"trajectory segment {index} is too short")
+            cumulative.append(cumulative[-1] + segment)
+        if cumulative[-1] <= 1e-6:
+            raise ValueError("trajectory length is too short")
+        return path, cumulative
+
+    def assemble_trajectory_path(self, task, raw_path, request):
+        header = request.get("header", {})
+        trajectory_id = str(task.get("trajectory_id") or header.get("request_id") or f"trajectory_{now_us()}")
+        segment_index = int(task.get("segment_index", 0) or 0)
+        total_segments = int(task.get("total_segments", 0) or 0)
+        is_final_segment = bool(task.get("is_final_segment", False))
+        segmented = total_segments > 1 or segment_index > 0
+
+        if segment_index < 0:
+            raise ValueError("trajectory segment_index must be non-negative")
+        if not raw_path:
+            raise ValueError("trajectory segment path must be non-empty")
+
+        meta = {
+            "trajectory_id": trajectory_id,
+            "segment_index": segment_index,
+            "total_segments": total_segments if total_segments > 0 else 1,
+            "is_final_segment": True,
+            "segment_cached": False,
+        }
+
+        if not segmented:
+            return raw_path, meta
+
+        if total_segments <= 1:
+            raise ValueError("segmented trajectory requires total_segments > 1")
+        if segment_index >= total_segments:
+            raise ValueError("trajectory segment_index must be less than total_segments")
+
+        final_segment = is_final_segment or (segment_index + 1 == total_segments)
+        meta.update({
+            "total_segments": total_segments,
+            "is_final_segment": final_segment,
+            "segment_cached": not final_segment,
+        })
+
+        cache_entry = self.trajectory_segment_cache.setdefault(
+            trajectory_id,
+            {
+                "total_segments": total_segments,
+                "segments": {},
+                "created_at": time.monotonic(),
+            },
+        )
+        if cache_entry["total_segments"] != total_segments:
+            raise ValueError("trajectory total_segments changed for the same trajectory_id")
+        cache_entry["segments"][segment_index] = list(raw_path)
+
+        if not final_segment:
+            self.last_control_summary = {
+                "task": "trajectory_tracking_segment_upload",
+                "trajectory_id": trajectory_id,
+                "segment_index": segment_index,
+                "total_segments": total_segments,
+                "segment_points": len(raw_path),
+                "cached_segments": len(cache_entry["segments"]),
+                "data_quality_passed": True,
+            }
+            return None, meta
+
+        missing_segments = [index for index in range(total_segments) if index not in cache_entry["segments"]]
+        if missing_segments:
+            raise ValueError(f"trajectory missing segments before execution: {missing_segments}")
+
+        assembled_path = []
+        for index in range(total_segments):
+            segment = list(cache_entry["segments"][index])
+            if index > 0 and assembled_path and segment:
+                previous = assembled_path[-1]
+                first = segment[0]
+                if math.hypot(
+                    float(previous.get("x_m", 0.0)) - float(first.get("x_m", 0.0)),
+                    float(previous.get("y_m", 0.0)) - float(first.get("y_m", 0.0)),
+                ) <= 1e-6:
+                    segment = segment[1:]
+            assembled_path.extend(segment)
+
+        del self.trajectory_segment_cache[trajectory_id]
+        meta["segment_cached"] = False
+        return assembled_path, meta
+
+    def interpolate_path(self, path, cumulative, distance_along_path):
+        target_s = clamp(distance_along_path, 0.0, cumulative[-1])
+        for index in range(len(path) - 1):
+            if target_s <= cumulative[index + 1]:
+                segment_len = cumulative[index + 1] - cumulative[index]
+                ratio = 0.0 if segment_len <= 1e-6 else (target_s - cumulative[index]) / segment_len
+                start = path[index]
+                end = path[index + 1]
+                yaw = math.atan2(end["y"] - start["y"], end["x"] - start["x"])
+                speed = start["speed"] + (end["speed"] - start["speed"]) * ratio
+                return {
+                    "x": start["x"] + (end["x"] - start["x"]) * ratio,
+                    "y": start["y"] + (end["y"] - start["y"]) * ratio,
+                    "yaw": yaw,
+                    "speed": speed,
+                    "segment_index": index,
+                    "distance_along_path": target_s,
+                }
+        final = path[-1]
+        previous = path[-2]
+        return {
+            "x": final["x"],
+            "y": final["y"],
+            "yaw": math.atan2(final["y"] - previous["y"], final["x"] - previous["x"]),
+            "speed": final["speed"],
+            "segment_index": len(path) - 2,
+            "distance_along_path": cumulative[-1],
+        }
+
+    def nearest_path_reference(self, path, cumulative, state):
+        best = None
+        px = state["x"]
+        py = state["y"]
+        for index in range(len(path) - 1):
+            start = path[index]
+            end = path[index + 1]
+            dx = end["x"] - start["x"]
+            dy = end["y"] - start["y"]
+            seg_len_sq = dx * dx + dy * dy
+            if seg_len_sq <= 1e-12:
+                continue
+
+            ratio = clamp(((px - start["x"]) * dx + (py - start["y"]) * dy) / seg_len_sq, 0.0, 1.0)
+            proj_x = start["x"] + dx * ratio
+            proj_y = start["y"] + dy * ratio
+            error_x = px - proj_x
+            error_y = py - proj_y
+            dist_sq = error_x * error_x + error_y * error_y
+            seg_len = math.sqrt(seg_len_sq)
+            lateral_error = (dx * (py - start["y"]) - dy * (px - start["x"])) / seg_len
+            yaw = math.atan2(dy, dx)
+            speed = start["speed"] + (end["speed"] - start["speed"]) * ratio
+            distance_along = cumulative[index] + seg_len * ratio
+            candidate = {
+                "distance_sq": dist_sq,
+                "lateral_error": lateral_error,
+                "heading_error": normalize_angle(state["yaw"] - yaw),
+                "speed": speed,
+                "yaw": yaw,
+                "segment_index": index,
+                "distance_along_path": distance_along,
+            }
+            if best is None or dist_sq < best["distance_sq"]:
+                best = candidate
+
+        if best is None:
+            raise ValueError("trajectory contains no valid segment")
+        return best
+
+    @staticmethod
+    def rms(values):
+        if not values:
+            return 0.0
+        return math.sqrt(sum(value * value for value in values) / len(values))
+
+    def execute_trajectory_tracking(self, request):
+        task = request.get("trajectory_tracking", {})
+        raw_path = task.get("path", [])
+        if not raw_path:
+            raise ValueError("trajectory_tracking requires non-empty path")
+
+        assembled_path, trajectory_meta = self.assemble_trajectory_path(task, raw_path, request)
+        if assembled_path is None:
+            return
+
+        path, cumulative = self.parse_trajectory_path(assembled_path)
+        pose_constraints = self.trajectory_pose_constraints(task)
+        stop_at_end = bool(task.get("stop_at_end", True))
+        timeout_sec = self.motion_duration_limit(task)
+        period = 1.0 / self.args.publish_hz
+        deadline = time.monotonic() + timeout_sec
+        started_at = time.monotonic()
+        self.stop_requested = False
+        self.last_control_summary = {}
+
+        lateral_errors = []
+        heading_errors = []
+        speed_errors = []
+        saturation_samples = 0
+        samples = 0
+        max_jerk = 0.0
+        previous_command_speed = None
+        previous_accel = 0.0
+        previous_sample_time = None
+        reached_goal = False
+        final_position_error = float("inf")
+        final_reference = None
+        stopped_by_request = False
+        pose_source = ""
+
+        try:
+            self.wait_for_vehicle_state(pose_constraints)
+            while time.monotonic() < deadline and not self.stop_requested:
+                state = self.get_vehicle_state()
+                pose_error = self.state_pose_constraint_error(state, pose_constraints)
+                if pose_error:
+                    raise ValueError(f"trajectory tracking invalid external pose: {pose_error}")
+                pose_source = state.get("pose_source", "")
+
+                nearest = self.nearest_path_reference(path, cumulative, state)
+                distance_to_final = math.hypot(state["x"] - path[-1]["x"], state["y"] - path[-1]["y"])
+                final_position_error = distance_to_final
+                if distance_to_final <= self.args.trajectory_goal_tolerance_m:
+                    reached_goal = True
+                    break
+
+                lookahead_s = min(
+                    cumulative[-1],
+                    nearest["distance_along_path"] + self.args.trajectory_lookahead_m,
+                )
+                target = self.interpolate_path(path, cumulative, lookahead_s)
+                target_dx = target["x"] - state["x"]
+                target_dy = target["y"] - state["y"]
+                target_distance = max(math.hypot(target_dx, target_dy), 1e-3)
+                target_heading = math.atan2(target_dy, target_dx)
+                alpha = normalize_angle(target_heading - state["yaw"])
+                curvature = 2.0 * math.sin(alpha) / target_distance
+
+                command_speed = target["speed"] if target["speed"] > 0.0 else self.args.default_tracking_speed_mps
+                command_speed = clamp(command_speed, self.args.min_tracking_speed_mps, self.args.max_speed_mps)
+                if distance_to_final < self.args.trajectory_slowdown_radius_m:
+                    command_speed = min(
+                        command_speed,
+                        max(self.args.min_tracking_speed_mps, distance_to_final * self.args.trajectory_slowdown_gain),
+                    )
+
+                command_angular = clamp(
+                    command_speed * curvature,
+                    -self.args.max_angular_speed_rps,
+                    self.args.max_angular_speed_rps,
+                )
+                saturated = abs(command_angular) >= (self.args.max_angular_speed_rps * 0.98)
+                if saturated:
+                    saturation_samples += 1
+
+                now = time.monotonic()
+                if previous_command_speed is not None and previous_sample_time is not None:
+                    dt = max(now - previous_sample_time, 1e-6)
+                    accel = (command_speed - previous_command_speed) / dt
+                    max_jerk = max(max_jerk, abs((accel - previous_accel) / dt))
+                    previous_accel = accel
+                previous_command_speed = command_speed
+                previous_sample_time = now
+
+                lateral_errors.append(abs(nearest["lateral_error"]))
+                heading_errors.append(abs(nearest["heading_error"]))
+                speed_errors.append(abs(state["linear_velocity"] - command_speed))
+                final_reference = nearest
+                samples += 1
+
+                self.publish_cmd(command_speed, command_angular)
+                time.sleep(period)
+
+            stopped_by_request = bool(self.stop_requested)
+            if stopped_by_request:
+                raise ValueError("trajectory tracking was interrupted by stop request")
+            if not reached_goal:
+                raise ValueError("trajectory tracking timed out before reaching goal")
+        finally:
+            duration_sec = time.monotonic() - started_at
+            rms_lateral = self.rms(lateral_errors)
+            rms_heading = self.rms(heading_errors)
+            rms_speed = self.rms(speed_errors)
+            data_quality_passed = (
+                reached_goal
+                and rms_lateral <= self.args.trajectory_max_rms_lateral_error_m
+                and rms_heading <= self.args.trajectory_max_rms_heading_error_rad
+            )
+            self.last_control_summary = {
+                "task": "trajectory_tracking",
+                "trajectory_id": trajectory_meta["trajectory_id"],
+                "segment_index": trajectory_meta["segment_index"],
+                "total_segments": trajectory_meta["total_segments"],
+                "is_final_segment": trajectory_meta["is_final_segment"],
+                "path_points": len(path),
+                "path_length_m": cumulative[-1],
+                "duration_sec": duration_sec,
+                "samples": samples,
+                "reached_goal": reached_goal,
+                "stopped_by_request": stopped_by_request,
+                "final_position_error_m": 0.0 if not math.isfinite(final_position_error) else final_position_error,
+                "rms_lateral_error_m": rms_lateral,
+                "max_lateral_error_m": max(lateral_errors) if lateral_errors else 0.0,
+                "rms_heading_error_rad": rms_heading,
+                "max_heading_error_rad": max(heading_errors) if heading_errors else 0.0,
+                "rms_speed_error_ms": rms_speed,
+                "max_jerk": max_jerk,
+                "saturation_ratio": float(saturation_samples / samples) if samples else 0.0,
+                "last_path_distance_m": final_reference["distance_along_path"] if final_reference else 0.0,
+                "pose_source": pose_source,
+                "external_pose_topic": self.args.external_pose_topic,
+                "velocity_feedback_topic": self.args.chassis_telemetry_topic,
+                "required_external_pose_source_id": pose_constraints["required_source"],
+                "max_external_pose_age_ms": pose_constraints["max_age_sec"] * 1000.0,
+                "min_external_pose_quality_score": pose_constraints["min_quality"],
+                "data_quality_passed": data_quality_passed,
+            }
+            if stop_at_end or not reached_goal:
+                self.stop()
+
+    def execute_velocity_step(self, request):
+        task = request.get("velocity_step", {})
+        settle = max(0.0, float(task.get("settle_before_step_sec", 0.0)))
+        hold = max(0.0, float(task.get("hold_time_sec", 2.0)))
+        speed = min(abs(float(task.get("target_velocity_ms", 0.1))), self.args.max_speed_mps)
+        if settle > 0.0:
+            self.run_velocity_for(0.0, 0.0, min(settle, self.args.max_motion_duration_sec))
+        self.run_velocity_for(speed, 0.0, min(hold, self.args.max_motion_duration_sec))
+
+    def execute_accel_decel(self, request):
+        task = request.get("accel_decel", {})
+        start_speed = min(abs(float(task.get("start_velocity_ms", 0.0))), self.args.max_speed_mps)
+        target_speed = min(abs(float(task.get("target_velocity_ms", 0.1))), self.args.max_speed_mps)
+        accel = abs(float(task.get("target_accel_ms2", 0.1)))
+        hold = max(0.0, float(task.get("hold_time_sec", 1.0)))
+        if accel <= 0.0:
+            raise ValueError("accel_decel requires positive target_accel_ms2")
+        ramp_duration = abs(target_speed - start_speed) / accel
+        ramp_duration = min(ramp_duration, self.args.max_motion_duration_sec)
+        self.run_ramp_velocity(start_speed, target_speed, 0.0, ramp_duration, hold)
+
+    def execute_stop_accuracy(self, request):
+        task = request.get("stop_accuracy", {})
+        timeout = float(task.get("timeout_sec", 3.0) or 3.0)
+        speed = min(0.10, self.args.max_speed_mps)
+        self.run_velocity_for(speed, 0.0, min(timeout * 0.5, self.args.max_motion_duration_sec))
+
+    def handle_control_evaluation(self, request):
+        try:
+            job_id = self.validate_request_vehicle_id(request)
+        except ValueError as exc:
+            return self.control_job_result(
+                f"sim_control_rejected_{now_us()}",
+                False,
+                ERROR_INVALID_ARGUMENT,
+                str(exc),
+            )
+
+        with self.lock:
+            if self.active_job_id:
+                return self.control_job_result(
+                    job_id,
+                    False,
+                    ERROR_VEHICLE_BUSY,
+                    f"vehicle is busy with {self.active_domain}:{self.active_job_id}",
+                )
+            self.active_job_id = job_id
+            self.active_domain = "control"
+            self.last_control_summary = {}
+            selected = int(request.get("selected_task", 0))
+            try:
+                if selected == 1:
+                    self.execute_trajectory_tracking(request)
+                elif selected == 2:
+                    self.execute_velocity_step(request)
+                elif selected == 3:
+                    self.execute_accel_decel(request)
+                elif selected == 4:
+                    self.execute_stop_accuracy(request)
+                else:
+                    return self.control_job_result(
+                        job_id,
+                        False,
+                        ERROR_UNSUPPORTED_CAPABILITY,
+                        f"unsupported simulated control task: {selected}",
+                    )
+            except Exception as exc:
+                self.stop()
+                return self.control_job_result(job_id, False, ERROR_INVALID_ARGUMENT, str(exc))
+            finally:
+                self.active_job_id = ""
+                self.active_domain = ""
+
+        return self.control_job_result(job_id, True, ERROR_OK, "Isaac simulated control evaluation completed.")
+
+    def control_job_result(self, job_id, success, error_code, message):
+        summary = dict(self.last_control_summary)
+        data_quality_passed = bool(summary.get("data_quality_passed", success))
+        suitable_for_commit = bool(success and data_quality_passed)
+        saturation_ratio = float(summary.get("saturation_ratio", 0.0 if success else 1.0))
+        return {
+            "success": success,
+            "error_code": {"code": error_code},
+            "message": message,
+            "job_id": job_id,
+            "data_quality_passed": data_quality_passed,
+            "suitable_for_commit": suitable_for_commit,
+            "recommended_parameter_version": "isaac_control_sim_v1",
+            "validation_summary": {
+                "rms_lateral_error_m": float(summary.get("rms_lateral_error_m", 0.0)),
+                "rms_heading_error_rad": float(summary.get("rms_heading_error_rad", 0.0)),
+                "rms_speed_error_ms": float(summary.get("rms_speed_error_ms", 0.0)),
+                "overshoot_ratio": 0.0,
+                "settle_time_sec": float(summary.get("duration_sec", self.last_motion_summary.get("duration_sec", 0.0))),
+                "stop_position_error_m": float(summary.get("final_position_error_m", 0.0)),
+                "max_jerk": float(summary.get("max_jerk", 0.0)),
+                "saturation_ratio": saturation_ratio,
+                "auto_acceptance_passed": data_quality_passed,
+            },
+            "artifacts": [
+                {
+                    "file_name": "sim_control_task_summary.json",
+                    "file_uri": "memory://vehicle_agent_sim/control_task_summary",
+                    "size_bytes": 0,
+                    "description": json.dumps(summary, ensure_ascii=False, separators=(",", ":")),
+                }
+            ] if summary else [],
+        }
+
+
+class AgentTcpHandler(socketserver.BaseRequestHandler):
+    def handle(self):
+        agent = self.server.agent
+        try:
+            msg_type, payload = read_frame(self.request)
+            if msg_type == CHASSIS_GET_READINESS_REQ:
+                send_frame(self.request, CHASSIS_GET_READINESS_RSP, agent.readiness_payload("chassis"))
+            elif msg_type == CHASSIS_MOTION_PRIMITIVE_REQ:
+                send_frame(self.request, CHASSIS_MOTION_PRIMITIVE_RSP, agent.handle_motion_primitive(payload))
+            elif msg_type == CHASSIS_EMERGENCY_BRAKE_REQ:
+                agent.stop()
+                send_frame(
+                    self.request,
+                    CHASSIS_EMERGENCY_BRAKE_RSP,
+                    {"success": True, "error_code": {"code": ERROR_OK}, "message": "Isaac simulated brake executed."},
+                )
+            elif msg_type == CONTROL_GET_READINESS_REQ:
+                send_frame(self.request, CONTROL_GET_READINESS_RSP, agent.readiness_payload("control"))
+            elif msg_type == CONTROL_EVALUATION_REQ:
+                send_frame(self.request, CONTROL_EVALUATION_RSP, agent.handle_control_evaluation(payload))
+            elif msg_type == EXTERNAL_POSE_PUSH_REQ:
+                send_frame(self.request, EXTERNAL_POSE_PUSH_RSP, agent.handle_external_pose_push(payload))
+            else:
+                print(f"[WARN] unsupported vehicle_agent_sim msg_type={msg_type}")
+        except Exception as exc:
+            print(f"[WARN] vehicle_agent_sim request failed: {exc}")
+
+
+class ThreadingTcpServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
+    allow_reuse_address = True
+    daemon_threads = True
+
+
+def create_server(agent, host, port):
+    server = ThreadingTcpServer((host, port), AgentTcpHandler)
+    server.agent = agent
+    return server
+
+
+def serve(server, name):
+    host, port = server.server_address
+    print(f"[*] {name} vehicle agent sim listening on {host}:{port}")
+    server.serve_forever()
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description="Isaac vehicle-side agent simulator")
+    parser.add_argument("--vehicle-id", default="demo_agv_001")
+    parser.add_argument("--cmd-vel-topic", default="/vehicle/demo_agv_001/actuator/cmd_vel")
+    parser.add_argument("--external-pose-topic", default="/isaac/external_localization/telemetry")
+    parser.add_argument(
+        "--external-pose-transport",
+        choices=["ros_topic", "wifi6_tcp", "both"],
+        default="both",
+        help="外部真值位姿输入方式；现场/闭环仿真建议使用 wifi6_tcp",
+    )
+    parser.add_argument("--external-pose-port", type=int, default=9004)
+    parser.add_argument("--external-pose-min-quality", type=float, default=0.1)
+    parser.add_argument("--chassis-telemetry-topic", default="/chassis/telemetry")
+    parser.add_argument("--allow-chassis-pose-fallback", action="store_true")
+    parser.add_argument("--bind-host", default="0.0.0.0")
+    parser.add_argument("--chassis-port", type=int, default=9001)
+    parser.add_argument("--control-port", type=int, default=9002)
+    parser.add_argument("--publish-hz", type=float, default=20.0)
+    parser.add_argument("--max-speed-mps", type=float, default=0.3)
+    parser.add_argument("--wheel-base-m", type=float, default=0.80)
+    parser.add_argument("--max-steering-angle-rad", type=float, default=0.60)
+    parser.add_argument("--internal-command-timeout-sec", type=float, default=0.5)
+    parser.add_argument("--internal-ackermann-command-topic", default="/vehicle/demo_agv_001/internal/ackermann_cmd")
+    parser.add_argument("--internal-state-topic", default="/vehicle/demo_agv_001/internal/state")
+    parser.add_argument("--internal-health-topic", default="/vehicle/demo_agv_001/internal/health")
+    parser.add_argument("--internal-time-sync-topic", default="/vehicle/demo_agv_001/internal/time_sync_status")
+    parser.add_argument("--max-angular-speed-rps", type=float, default=1.2)
+    parser.add_argument("--max-motion-duration-sec", type=float, default=60.0)
+    parser.add_argument("--pose-wait-timeout-sec", type=float, default=2.0)
+    parser.add_argument("--pose-stale-timeout-sec", type=float, default=0.5)
+    parser.add_argument("--trajectory-lookahead-m", type=float, default=0.45)
+    parser.add_argument("--trajectory-goal-tolerance-m", type=float, default=0.08)
+    parser.add_argument("--trajectory-slowdown-radius-m", type=float, default=0.5)
+    parser.add_argument("--trajectory-slowdown-gain", type=float, default=0.8)
+    parser.add_argument("--default-tracking-speed-mps", type=float, default=0.12)
+    parser.add_argument("--min-tracking-speed-mps", type=float, default=0.03)
+    parser.add_argument("--trajectory-max-rms-lateral-error-m", type=float, default=0.20)
+    parser.add_argument("--trajectory-max-rms-heading-error-rad", type=float, default=0.60)
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+    rclpy.init(args=None)
+    agent = IsaacVehicleAgentSim(args)
+    servers = []
+    servers_started = False
+    try:
+        servers.append((create_server(agent, args.bind_host, args.chassis_port), "chassis"))
+        servers.append((create_server(agent, args.bind_host, args.control_port), "control"))
+        if args.external_pose_transport in ("wifi6_tcp", "both"):
+            servers.append((create_server(agent, args.bind_host, args.external_pose_port), "external-pose"))
+        for server, name in servers:
+            threading.Thread(target=serve, args=(server, name), daemon=True).start()
+        servers_started = True
+        print(f"[*] publishing private actuator commands to {args.cmd_vel_topic}")
+        while rclpy.ok():
+            rclpy.spin_once(agent.node, timeout_sec=0.1)
+    except OSError as exc:
+        print(f"[ERROR] vehicle_agent_sim network startup failed: {exc}")
+        return 1
+    except KeyboardInterrupt:
+        print("[*] vehicle_agent_sim shutdown requested.")
+    finally:
+        if servers_started:
+            for server, _name in servers:
+                server.shutdown()
+        for server, _name in servers:
+            server.server_close()
+        try:
+            if rclpy.ok():
+                agent.stop()
+        except Exception as exc:
+            print(f"[WARN] vehicle_agent_sim stop during shutdown failed: {exc}")
+        agent.node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/README.md b/agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/README.md
new file mode 100644
index 0000000..35d5910
--- /dev/null
+++ b/agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/README.md
@@ -0,0 +1,79 @@
+# 仿真车端传感器代理
+
+这个模块模拟真实 Windows 小车上的传感器采集服务。
+
+职责：
+
+- 订阅 Isaac 发布的车载传感器 ROS2 topic。
+- 将前视相机、下视相机、3D 激光雷达、2D 激光雷达、IMU 转成与 `VehicleSensorFrame` 对齐的 JSON payload。
+- 默认由统一车端 agent 对外提供；本模块也可作为独立传感器后端调试使用。
+- 对图像和点云支持按 `fragment_index / total_fragments` 分片读取。
+- 发布车端内部 `SensorLinkStatus`，用于描述传感器在线、帧率、丢帧和延迟。
+
+默认一键仿真的 TCP 端口：
+
+```text
+9000 车端统一 WiFi6/TCP 入口
+```
+
+默认订阅：
+
+```text
+/sensor/front_camera/image_raw
+/sensor/down_camera/image_raw
+/sensor/lidar_3d/pointcloud
+/sensor/lidar_2d/scan
+/sensor/imu/data
+```
+
+默认内部状态话题：
+
+```text
+/vehicle/<vehicle_id>/internal/sensor_link_status
+```
+
+启动：
+
+```bash
+source install/setup.bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-agent
+```
+
+无 Isaac 验收：
+
+```bash
+source install/setup.bash
+python3 src/simulation/tools/smoke_test_vehicle_sensor_agent.py --fake-sensors
+```
+
+帧类型：
+
+```text
+21 SENSOR_GET_READINESS_REQ
+22 SENSOR_GET_READINESS_RSP
+23 SENSOR_GET_LATEST_FRAME_REQ
+24 SENSOR_GET_LATEST_FRAME_RSP
+25 SENSOR_LIST_SENSORS_REQ
+26 SENSOR_LIST_SENSORS_RSP
+```
+
+正式现场部署时，真实 Windows 车端应订阅本车传感器驱动数据，再按 `sensor_calibration.proto` 中的 `VehicleSensorFrame` 通过 WiFi6 提供给车间电脑。
+
+车间侧接入：
+
+```bash
+source install/setup.bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+```
+
+默认会通过车端统一 `9000` 端口读取最新帧，再重新发布到：
+
+```text
+/workshop/vehicle_sensor/demo_front_camera/image_raw
+/workshop/vehicle_sensor/demo_down_camera/image_raw
+/workshop/vehicle_sensor/demo_lidar_3d/pointcloud
+/workshop/vehicle_sensor/demo_lidar_2d/scan
+/workshop/vehicle_sensor/demo_imu/data
+```
+
+后续传感器标定算法应订阅这些车间侧 topic，而不是直接订阅 Isaac 原始 `/sensor/...` topic。
diff --git a/agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/scripts/isaac_vehicle_sensor_agent_sim.py b/agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/scripts/isaac_vehicle_sensor_agent_sim.py
new file mode 100644
index 0000000..357f104
--- /dev/null
+++ b/agv_calib_brain/src/simulation/vehicle_sensor_agent_sim/scripts/isaac_vehicle_sensor_agent_sim.py
@@ -0,0 +1,554 @@
+#!/usr/bin/env python3
+"""Vehicle-side sensor agent simulator for Isaac validation.
+
+The process represents the sensor-facing part of the vehicle computer. It
+subscribes to Isaac ROS sensor topics and exposes the latest frames through the
+same simple TCP frame envelope used by the chassis/control simulator.
+"""
+
+from __future__ import annotations
+
+import argparse
+import base64
+import hashlib
+import json
+import math
+import socket
+import socketserver
+import struct
+import threading
+import time
+from dataclasses import dataclass, field
+from typing import Any
+
+import rclpy
+from sensor_msgs.msg import Image, Imu, LaserScan, PointCloud2
+
+try:
+    from vehicle_internal_interfaces.msg import SensorLinkStatus
+except ImportError:
+    SensorLinkStatus = None
+
+
+SENSOR_GET_READINESS_REQ = 21
+SENSOR_GET_READINESS_RSP = 22
+SENSOR_GET_LATEST_FRAME_REQ = 23
+SENSOR_GET_LATEST_FRAME_RSP = 24
+SENSOR_LIST_SENSORS_REQ = 25
+SENSOR_LIST_SENSORS_RSP = 26
+
+ERROR_OK = 1
+ERROR_INVALID_ARGUMENT = 2
+ERROR_INVALID_STATE = 3
+
+SENSOR_TYPE_DOWNWARD_CAMERA = 1
+SENSOR_TYPE_FRONT_CAMERA = 2
+SENSOR_TYPE_LIDAR_3D = 4
+SENSOR_TYPE_LIDAR_2D = 5
+SENSOR_TYPE_IMU = 6
+
+PAYLOAD_IMAGE = 1
+PAYLOAD_POINT_CLOUD = 2
+PAYLOAD_LASER_SCAN = 3
+PAYLOAD_IMU = 4
+
+
+def now_us() -> int:
+    return int(time.time() * 1_000_000)
+
+
+def ros_stamp_to_us(stamp: Any) -> int:
+    sec = int(getattr(stamp, "sec", 0))
+    nanosec = int(getattr(stamp, "nanosec", 0))
+    if sec == 0 and nanosec == 0:
+        return now_us()
+    return sec * 1_000_000 + nanosec // 1000
+
+
+def read_exactly(conn: socket.socket, count: int) -> bytes:
+    chunks: list[bytes] = []
+    remaining = count
+    while remaining > 0:
+        chunk = conn.recv(remaining)
+        if not chunk:
+            raise ConnectionError("connection closed")
+        chunks.append(chunk)
+        remaining -= len(chunk)
+    return b"".join(chunks)
+
+
+def send_frame(conn: socket.socket, msg_type: int, payload: dict[str, Any]) -> None:
+    encoded = json.dumps(payload, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
+    conn.sendall(struct.pack("<II", msg_type, len(encoded)) + encoded)
+
+
+def read_frame(conn: socket.socket) -> tuple[int, dict[str, Any]]:
+    header = read_exactly(conn, 8)
+    msg_type, payload_len = struct.unpack("<II", header)
+    payload = read_exactly(conn, payload_len).decode("utf-8") if payload_len else "{}"
+    return msg_type, json.loads(payload)
+
+
+@dataclass(frozen=True)
+class SensorSpec:
+    sensor_id: str
+    sensor_type: int
+    payload_type: int
+    topic: str
+    frame_id: str
+
+
+@dataclass
+class LatestFrame:
+    sensor: SensorSpec
+    hardware_timestamp_us: int
+    sequence_id: int
+    received_monotonic: float
+    payload: dict[str, Any]
+    raw_bytes: bytes = b""
+    raw_field_path: tuple[str, str] | None = None
+    uncompressed_size_bytes: int = 0
+    digest: str = ""
+    active_job_id: str = ""
+    capture_intent: int = 0
+
+
+class IsaacVehicleSensorAgentSim:
+    def __init__(self, args: argparse.Namespace):
+        self.args = args
+        self.node = rclpy.create_node("isaac_vehicle_sensor_agent_sim")
+        self.lock = threading.Lock()
+        self.sequence_by_sensor: dict[str, int] = {}
+        self.latest_frames: dict[str, LatestFrame] = {}
+        self.sensors = self.build_sensor_specs(args)
+        self.subscriptions = []
+        self.stop_requested = False
+        self.sensor_link_status_publisher = None
+
+        self.add_subscription("front_camera", Image, self.on_image)
+        self.add_subscription("down_camera", Image, self.on_image)
+        self.add_subscription("lidar_3d", PointCloud2, self.on_point_cloud)
+        self.add_subscription("lidar_2d", LaserScan, self.on_laser_scan)
+        self.add_subscription("imu", Imu, self.on_imu)
+        if SensorLinkStatus is not None:
+            self.sensor_link_status_publisher = self.node.create_publisher(SensorLinkStatus, args.sensor_link_status_topic, 10)
+            self.node.create_timer(0.5, self.publish_sensor_link_status)
+        else:
+            print("[WARN] vehicle_internal_interfaces is unavailable; sensor link status topic is disabled.")
+
+    @staticmethod
+    def build_sensor_specs(args: argparse.Namespace) -> dict[str, SensorSpec]:
+        return {
+            "front_camera": SensorSpec(args.front_camera_sensor_id, SENSOR_TYPE_FRONT_CAMERA, PAYLOAD_IMAGE, args.front_camera_topic, "front_camera_link"),
+            "down_camera": SensorSpec(args.down_camera_sensor_id, SENSOR_TYPE_DOWNWARD_CAMERA, PAYLOAD_IMAGE, args.down_camera_topic, "down_camera_link"),
+            "lidar_3d": SensorSpec(args.lidar_3d_sensor_id, SENSOR_TYPE_LIDAR_3D, PAYLOAD_POINT_CLOUD, args.lidar_3d_topic, "lidar_3d_link"),
+            "lidar_2d": SensorSpec(args.lidar_2d_sensor_id, SENSOR_TYPE_LIDAR_2D, PAYLOAD_LASER_SCAN, args.lidar_2d_topic, "lidar_2d_link"),
+            "imu": SensorSpec(args.imu_sensor_id, SENSOR_TYPE_IMU, PAYLOAD_IMU, args.imu_topic, "imu_link"),
+        }
+
+    def add_subscription(self, key: str, msg_type: Any, callback: Any) -> None:
+        sensor = self.sensors[key]
+        if not self.sensor_enabled(sensor):
+            return
+        self.subscriptions.append(self.node.create_subscription(msg_type, sensor.topic, lambda msg, key=key: callback(key, msg), 20))
+
+    def sensor_enabled(self, sensor: SensorSpec) -> bool:
+        return not self.args.enabled_sensor_ids or sensor.sensor_id in self.args.enabled_sensor_ids
+
+    def next_sequence(self, sensor_id: str) -> int:
+        with self.lock:
+            next_value = self.sequence_by_sensor.get(sensor_id, 0) + 1
+            self.sequence_by_sensor[sensor_id] = next_value
+            return next_value
+
+    def store_frame(self, frame: LatestFrame) -> None:
+        with self.lock:
+            self.latest_frames[frame.sensor.sensor_id] = frame
+
+    def on_image(self, key: str, msg: Image) -> None:
+        sensor = self.sensors[key]
+        raw = bytes(msg.data)
+        payload = {
+            "width": int(msg.width),
+            "height": int(msg.height),
+            "encoding": str(msg.encoding),
+            "is_bigendian": bool(msg.is_bigendian),
+            "step": int(msg.step),
+            "compression": "none",
+        }
+        frame = LatestFrame(
+            sensor=sensor,
+            hardware_timestamp_us=ros_stamp_to_us(msg.header.stamp),
+            sequence_id=self.next_sequence(sensor.sensor_id),
+            received_monotonic=time.monotonic(),
+            payload={"image": payload},
+            raw_bytes=raw,
+            raw_field_path=("image", "data"),
+            uncompressed_size_bytes=len(raw),
+            digest=f"sha256:{hashlib.sha256(raw).hexdigest()}",
+        )
+        self.store_frame(frame)
+
+    def on_point_cloud(self, key: str, msg: PointCloud2) -> None:
+        sensor = self.sensors[key]
+        raw = bytes(msg.data)
+        fields = [
+            {
+                "name": str(field.name),
+                "offset": int(field.offset),
+                "datatype": int(field.datatype),
+                "count": int(field.count),
+            }
+            for field in msg.fields
+        ]
+        payload = {
+            "height": int(msg.height),
+            "width": int(msg.width),
+            "fields": fields,
+            "is_bigendian": bool(msg.is_bigendian),
+            "point_step": int(msg.point_step),
+            "row_step": int(msg.row_step),
+            "is_dense": bool(msg.is_dense),
+            "compression": "none",
+        }
+        frame = LatestFrame(
+            sensor=sensor,
+            hardware_timestamp_us=ros_stamp_to_us(msg.header.stamp),
+            sequence_id=self.next_sequence(sensor.sensor_id),
+            received_monotonic=time.monotonic(),
+            payload={"point_cloud": payload},
+            raw_bytes=raw,
+            raw_field_path=("point_cloud", "data"),
+            uncompressed_size_bytes=len(raw),
+            digest=f"sha256:{hashlib.sha256(raw).hexdigest()}",
+        )
+        self.store_frame(frame)
+
+    def on_laser_scan(self, key: str, msg: LaserScan) -> None:
+        sensor = self.sensors[key]
+        payload = {
+            "angle_min_rad": float(msg.angle_min),
+            "angle_max_rad": float(msg.angle_max),
+            "angle_increment_rad": float(msg.angle_increment),
+            "time_increment_sec": float(msg.time_increment),
+            "scan_time_sec": float(msg.scan_time),
+            "range_min_m": float(msg.range_min),
+            "range_max_m": float(msg.range_max),
+            "ranges_m": [float(value) for value in msg.ranges],
+            "intensities": [float(value) for value in msg.intensities],
+        }
+        frame = LatestFrame(
+            sensor=sensor,
+            hardware_timestamp_us=ros_stamp_to_us(msg.header.stamp),
+            sequence_id=self.next_sequence(sensor.sensor_id),
+            received_monotonic=time.monotonic(),
+            payload={"laser_scan": payload},
+        )
+        self.store_frame(frame)
+
+    def on_imu(self, key: str, msg: Imu) -> None:
+        sensor = self.sensors[key]
+        payload = {
+            "orientation_x": float(msg.orientation.x),
+            "orientation_y": float(msg.orientation.y),
+            "orientation_z": float(msg.orientation.z),
+            "orientation_w": float(msg.orientation.w),
+            "orientation_covariance": [float(value) for value in msg.orientation_covariance],
+            "angular_velocity": {
+                "x": float(msg.angular_velocity.x),
+                "y": float(msg.angular_velocity.y),
+                "z": float(msg.angular_velocity.z),
+            },
+            "angular_velocity_covariance": [float(value) for value in msg.angular_velocity_covariance],
+            "linear_acceleration": {
+                "x": float(msg.linear_acceleration.x),
+                "y": float(msg.linear_acceleration.y),
+                "z": float(msg.linear_acceleration.z),
+            },
+            "linear_acceleration_covariance": [float(value) for value in msg.linear_acceleration_covariance],
+        }
+        frame = LatestFrame(
+            sensor=sensor,
+            hardware_timestamp_us=ros_stamp_to_us(msg.header.stamp),
+            sequence_id=self.next_sequence(sensor.sensor_id),
+            received_monotonic=time.monotonic(),
+            payload={"imu": payload},
+        )
+        self.store_frame(frame)
+
+    def list_sensors_payload(self) -> dict[str, Any]:
+        sensors = []
+        for sensor in self.sensors.values():
+            sensors.append({
+                "sensor_id": sensor.sensor_id,
+                "sensor_type": sensor.sensor_type,
+                "payload_type": sensor.payload_type,
+                "topic": sensor.topic,
+                "frame_id": sensor.frame_id,
+                "enabled": self.sensor_enabled(sensor),
+            })
+        return {
+            "success": True,
+            "error_code": {"code": ERROR_OK},
+            "message": "Isaac vehicle sensor agent sim: sensors listed.",
+            "sensors": sensors,
+        }
+
+    def readiness_payload(self) -> dict[str, Any]:
+        now = time.monotonic()
+        ready_sensor_ids = []
+        per_sensor = []
+        with self.lock:
+            latest_frames = dict(self.latest_frames)
+
+        active_sensors = [sensor for sensor in self.sensors.values() if self.sensor_enabled(sensor)]
+        for sensor in active_sensors:
+            frame = latest_frames.get(sensor.sensor_id)
+            age_sec = (now - frame.received_monotonic) if frame is not None else math.inf
+            ready = frame is not None and age_sec <= self.args.frame_stale_timeout_sec
+            if ready:
+                ready_sensor_ids.append(sensor.sensor_id)
+            per_sensor.append({
+                "sensor_id": sensor.sensor_id,
+                "sensor_type": sensor.sensor_type,
+                "topic": sensor.topic,
+                "ready": ready,
+                "age_ms": None if not math.isfinite(age_sec) else age_sec * 1000.0,
+                "sequence_id": 0 if frame is None else frame.sequence_id,
+            })
+
+        required_sensor_ids = [sensor.sensor_id for sensor in active_sensors]
+        all_ready = all(sensor_id in ready_sensor_ids for sensor_id in required_sensor_ids)
+        return {
+            "success": True,
+            "error_code": {"code": ERROR_OK},
+            "message": "Isaac vehicle sensor agent sim: sensor readiness checked.",
+            "agent_ready": True,
+            "capture_pipeline_ready": all_ready,
+            "storage_ready": True,
+            "telemetry_ready": True,
+            "vehicle_safe_to_move": True,
+            "arm_ready": True,
+            "ready_sensor_ids": ready_sensor_ids,
+            "issues": [] if all_ready else [
+                {
+                    "resource_id": sensor["sensor_id"],
+                    "message": f"sensor frame unavailable or stale on {sensor['topic']}",
+                    "severity": 2,
+                }
+                for sensor in per_sensor
+                if not sensor["ready"]
+            ],
+            "checked_timestamp_us": now_us(),
+            "sensor_data_stream_ready": bool(ready_sensor_ids),
+            "streaming_sensor_ids": ready_sensor_ids,
+            "sensor_data_transport": "wifi6_sim_tcp",
+            "per_sensor": per_sensor,
+        }
+
+    def publish_sensor_link_status(self) -> None:
+        if self.sensor_link_status_publisher is None:
+            return
+
+        now = time.monotonic()
+        with self.lock:
+            latest_frames = dict(self.latest_frames)
+        for sensor in self.sensors.values():
+            if not self.sensor_enabled(sensor):
+                continue
+            frame = latest_frames.get(sensor.sensor_id)
+            age_sec = math.inf if frame is None else now - frame.received_monotonic
+            online = frame is not None and age_sec <= self.args.frame_stale_timeout_sec
+
+            msg = SensorLinkStatus()
+            msg.hardware_timestamp_us = now_us()
+            msg.sensor_id = sensor.sensor_id
+            msg.sensor_type.value = sensor.sensor_type
+            msg.frame_id = sensor.frame_id
+            msg.source_channel = sensor.topic
+            msg.online = online
+            msg.frame_rate_hz = 0.0 if frame is None else min(1.0 / max(age_sec, 1e-3), 1000.0)
+            msg.latest_frame_age_ms = 0.0 if not math.isfinite(age_sec) else age_sec * 1000.0
+            msg.frame_count = 0 if frame is None else frame.sequence_id
+            msg.dropped_frame_ratio = 0.0
+            msg.latest_transport_latency_ms = msg.latest_frame_age_ms
+            msg.status_message = "online" if online else "sensor frame unavailable or stale"
+            self.sensor_link_status_publisher.publish(msg)
+
+    def frame_payload(self, request: dict[str, Any]) -> dict[str, Any]:
+        sensor_id = str(request.get("sensor_id", ""))
+        if not sensor_id:
+            raise ValueError("sensor_id is required")
+        include_payload = bool(request.get("include_payload", True))
+        fragment_index = int(request.get("fragment_index", 0) or 0)
+        if fragment_index < 0:
+            raise ValueError("fragment_index must be non-negative")
+        max_payload_bytes = int(request.get("max_payload_bytes", 0) or 0)
+        if max_payload_bytes <= 0:
+            max_payload_bytes = self.args.max_frame_payload_bytes
+
+        with self.lock:
+            frame = self.latest_frames.get(sensor_id)
+        if frame is None:
+            return {
+                "success": False,
+                "error_code": {"code": ERROR_INVALID_STATE},
+                "message": f"no frame has been received for sensor_id={sensor_id}",
+            }
+
+        sensor_frame = self.encode_vehicle_sensor_frame(frame, include_payload, max_payload_bytes, fragment_index)
+        return {
+            "success": True,
+            "error_code": {"code": ERROR_OK},
+            "message": "Isaac vehicle sensor agent sim: latest frame returned.",
+            "sensor_frame": sensor_frame,
+        }
+
+    def encode_vehicle_sensor_frame(
+        self,
+        frame: LatestFrame,
+        include_payload: bool,
+        max_payload_bytes: int,
+        fragment_index: int,
+    ) -> dict[str, Any]:
+        payload = json.loads(json.dumps(frame.payload, separators=(",", ":")))
+        total_fragments = 1
+        fragment = b""
+        if include_payload and frame.raw_bytes:
+            max_payload_bytes = max(1, max_payload_bytes)
+            total_fragments = max(1, math.ceil(len(frame.raw_bytes) / max_payload_bytes))
+            if fragment_index >= total_fragments:
+                raise ValueError(f"fragment_index {fragment_index} exceeds total_fragments {total_fragments}")
+            start = fragment_index * max_payload_bytes
+            end = min(len(frame.raw_bytes), start + max_payload_bytes)
+            fragment = frame.raw_bytes[start:end]
+            if frame.raw_field_path is not None:
+                object_name, field_name = frame.raw_field_path
+                payload[object_name][field_name] = base64.b64encode(fragment).decode("ascii")
+        elif frame.raw_field_path is not None:
+            object_name, field_name = frame.raw_field_path
+            payload[object_name][field_name] = ""
+
+        sensor_frame = {
+            "header": {
+                "sensor_id": frame.sensor.sensor_id,
+                "sensor_type": frame.sensor.sensor_type,
+                "frame_id": frame.sensor.frame_id,
+                "hardware_timestamp_us": frame.hardware_timestamp_us,
+                "sequence_id": frame.sequence_id,
+                "active_job_id": frame.active_job_id,
+                "capture_intent": frame.capture_intent,
+            },
+            "payload_type": frame.sensor.payload_type,
+            "stream_id": f"{frame.sensor.sensor_id}:{frame.sequence_id}",
+            "fragment_index": fragment_index,
+            "total_fragments": total_fragments,
+            "is_final_fragment": fragment_index + 1 >= total_fragments,
+            "uncompressed_size_bytes": frame.uncompressed_size_bytes,
+            "payload_digest": frame.digest,
+        }
+        sensor_frame.update(payload)
+        sensor_frame["fragment_payload_bytes"] = len(fragment)
+        sensor_frame["received_age_ms"] = (time.monotonic() - frame.received_monotonic) * 1000.0
+        return sensor_frame
+
+    def handle_request(self, msg_type: int, payload: dict[str, Any]) -> tuple[int, dict[str, Any]]:
+        if msg_type == SENSOR_GET_READINESS_REQ:
+            return SENSOR_GET_READINESS_RSP, self.readiness_payload()
+        if msg_type == SENSOR_GET_LATEST_FRAME_REQ:
+            return SENSOR_GET_LATEST_FRAME_RSP, self.frame_payload(payload)
+        if msg_type == SENSOR_LIST_SENSORS_REQ:
+            return SENSOR_LIST_SENSORS_RSP, self.list_sensors_payload()
+        return SENSOR_GET_READINESS_RSP, {
+            "success": False,
+            "error_code": {"code": ERROR_INVALID_ARGUMENT},
+            "message": f"unsupported sensor msg_type={msg_type}",
+        }
+
+
+class AgentTcpHandler(socketserver.BaseRequestHandler):
+    def handle(self) -> None:
+        agent: IsaacVehicleSensorAgentSim = self.server.agent
+        try:
+            msg_type, payload = read_frame(self.request)
+            response_type, response_payload = agent.handle_request(msg_type, payload)
+        except Exception as exc:
+            response_type = SENSOR_GET_READINESS_RSP
+            response_payload = {
+                "success": False,
+                "error_code": {"code": ERROR_INVALID_ARGUMENT},
+                "message": str(exc),
+            }
+        send_frame(self.request, response_type, response_payload)
+
+
+class ThreadingTcpServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
+    allow_reuse_address = True
+    daemon_threads = True
+
+
+def create_server(agent: IsaacVehicleSensorAgentSim, host: str, port: int) -> ThreadingTcpServer:
+    server = ThreadingTcpServer((host, port), AgentTcpHandler)
+    server.agent = agent
+    return server
+
+
+def serve(server: ThreadingTcpServer) -> None:
+    host, port = server.server_address
+    print(f"[*] sensor vehicle agent sim listening on {host}:{port}")
+    server.serve_forever()
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="Isaac vehicle-side sensor agent simulator")
+    parser.add_argument("--bind-host", default="0.0.0.0")
+    parser.add_argument("--sensor-port", type=int, default=9003)
+    parser.add_argument("--max-frame-payload-bytes", type=int, default=262144)
+    parser.add_argument("--frame-stale-timeout-sec", type=float, default=1.0)
+    parser.add_argument("--enabled-sensor-ids", nargs="*", default=[], help="只启用指定 sensor_id；默认启用全部")
+    parser.add_argument("--sensor-link-status-topic", default="/vehicle/demo_agv_001/internal/sensor_link_status")
+
+    parser.add_argument("--front-camera-sensor-id", default="demo_front_camera")
+    parser.add_argument("--down-camera-sensor-id", default="demo_down_camera")
+    parser.add_argument("--lidar-3d-sensor-id", default="demo_lidar_3d")
+    parser.add_argument("--lidar-2d-sensor-id", default="demo_lidar_2d")
+    parser.add_argument("--imu-sensor-id", default="demo_imu")
+
+    parser.add_argument("--front-camera-topic", default="/sensor/front_camera/image_raw")
+    parser.add_argument("--down-camera-topic", default="/sensor/down_camera/image_raw")
+    parser.add_argument("--lidar-3d-topic", default="/sensor/lidar_3d/pointcloud")
+    parser.add_argument("--lidar-2d-topic", default="/sensor/lidar_2d/scan")
+    parser.add_argument("--imu-topic", default="/sensor/imu/data")
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    rclpy.init(args=None)
+    agent = IsaacVehicleSensorAgentSim(args)
+    server = None
+    try:
+        server = create_server(agent, args.bind_host, args.sensor_port)
+        threading.Thread(target=serve, args=(server,), daemon=True).start()
+        print("[*] subscribed vehicle sensor topics:")
+        for sensor in agent.sensors.values():
+            print(f"  - {sensor.sensor_id}: {sensor.topic}")
+        while rclpy.ok():
+            rclpy.spin_once(agent.node, timeout_sec=0.1)
+    except OSError as exc:
+        print(f"[ERROR] vehicle_sensor_agent_sim network startup failed: {exc}")
+        return 1
+    except KeyboardInterrupt:
+        print("[*] vehicle_sensor_agent_sim shutdown requested.")
+    finally:
+        if server is not None:
+            server.shutdown()
+            server.server_close()
+        agent.node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/agv_calib_brain/src/site_deployment/README.md b/agv_calib_brain/src/site_deployment/README.md
new file mode 100644
index 0000000..f65a0af
--- /dev/null
+++ b/agv_calib_brain/src/site_deployment/README.md
@@ -0,0 +1,13 @@
+# 现场部署代码
+
+这个目录用于存放真实现场设备相关代码。
+
+现场部署代码应该复用仿真阶段已经验证过的外部接口语义，但需要把仿真适配器替换成真实适配器。
+
+当前边界：
+
+- `vehicle_agent_real`：真实车端电脑适配器。
+- 现场专用 launch/config 文件应放在 `src/deployment/profiles`。
+- 真实安全检查必须放在这里，或者放在真实车端控制器里，不能放进 Isaac 仿真代码。
+
+这个目录不要引入 Isaac API。
diff --git a/agv_calib_brain/src/site_deployment/vehicle_agent_real/README.md b/agv_calib_brain/src/site_deployment/vehicle_agent_real/README.md
new file mode 100644
index 0000000..00891a1
--- /dev/null
+++ b/agv_calib_brain/src/site_deployment/vehicle_agent_real/README.md
@@ -0,0 +1,14 @@
+# 真实车端代理
+
+这个目录用于存放真实 AGV 小车上的车端部署适配代码。
+
+它应该暴露与 `vehicle_agent_sim` 相同的 TCP 协议，但底层执行不再调用 Isaac 控制，而是对接真实车辆 SDK、PLC 接口、CAN 网关或厂商控制器接口。
+
+现场使用前必须满足：
+
+- 拒绝 `vehicle_id` 不匹配的命令。
+- 同一时间只允许一个活动任务。
+- gateway 断连或命令超时时必须停车。
+- 支持紧急制动。
+- 上报 readiness 状态和遥测健康状态。
+- 对每一条被接受的命令和最终结果记录时间戳日志。
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/CMakeLists.txt b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/CMakeLists.txt
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/CMakeLists.txt
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/CMakeLists.txt
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/docs/protocol.md b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/docs/protocol.md
similarity index 96%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/docs/protocol.md
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/docs/protocol.md
index 0debc66..b8b7275 100644
--- a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/docs/protocol.md
+++ b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/docs/protocol.md
@@ -368,7 +368,14 @@ Ubuntu 发送，让车端按当前控制参数执行一次评估任务。`select
       {"x_m": 10.0, "y_m": 0.0, "yaw_rad": 0.0, "target_speed_ms": 0.0}
     ],
     "stop_at_end": true,
-    "timeout_sec": 60.0
+    "timeout_sec": 60.0,
+    "required_external_pose_source_id": "workshop_external_truth",
+    "max_external_pose_age_ms": 100.0,
+    "min_external_pose_quality_score": 0.8,
+    "trajectory_id": "traj_001",
+    "segment_index": 0,
+    "total_segments": 1,
+    "is_final_segment": true
   }
 }
 ```
@@ -392,7 +399,14 @@ Ubuntu 发送，让车端按当前控制参数执行一次评估任务。`select
     {"x_m": 0.0, "y_m": 0.0, "yaw_rad": 0.0, "target_speed_ms": 0.5}
   ],
   "stop_at_end": true,
-  "timeout_sec": 60.0
+  "timeout_sec": 60.0,
+  "required_external_pose_source_id": "workshop_external_truth",
+  "max_external_pose_age_ms": 100.0,
+  "min_external_pose_quality_score": 0.8,
+  "trajectory_id": "traj_001",
+  "segment_index": 0,
+  "total_segments": 1,
+  "is_final_segment": true
 }
 ```
 
@@ -538,7 +552,7 @@ Ubuntu 侧提供了 Python stub 服务器用于 Windows 侧联调前的自测：
 
 ```bash
 # 在 Ubuntu 上运行，模拟 Windows 车端（返回空 payload 的成功响应）
-python3 src/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
+python3 src/communication/win_ubuntu_bridge/vehicle_agent_gateway/scripts/windows_stub_server.py
 ```
 
 ---
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/frame_codec.py b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/frame_codec.py
similarity index 95%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/frame_codec.py
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/frame_codec.py
index d2c3e4a..0de0274 100644
--- a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/frame_codec.py
+++ b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/frame_codec.py
@@ -192,6 +192,11 @@ def make_control_readiness_response(
     estop_released: bool,
     vehicle_safe_to_move: bool,
     checked_timestamp_us: int,
+    external_pose_feedback_ready: bool = False,
+    external_pose_source_name: str = "",
+    external_pose_age_ms: float = 0.0,
+    external_pose_quality_score: float = 0.0,
+    external_pose_transport: str = "",
     error_code: ErrorCode = ErrorCode.OK,
 ) -> Dict[str, Any]:
     """构造运控就绪响应 payload（对应 ControlReadinessResponse.msg）。"""
@@ -206,6 +211,11 @@ def make_control_readiness_response(
         "estop_released": estop_released,
         "vehicle_safe_to_move": vehicle_safe_to_move,
         "checked_timestamp_us": checked_timestamp_us,
+        "external_pose_feedback_ready": external_pose_feedback_ready,
+        "external_pose_source_name": external_pose_source_name,
+        "external_pose_age_ms": external_pose_age_ms,
+        "external_pose_quality_score": external_pose_quality_score,
+        "external_pose_transport": external_pose_transport,
     }
 
 
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/chassis_domain_server.hpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/chassis_domain_server.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/chassis_domain_server.hpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/chassis_domain_server.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/chassis_handler.hpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/chassis_handler.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/chassis_handler.hpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/chassis_handler.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/control_domain_server.hpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/control_domain_server.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/control_domain_server.hpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/control_domain_server.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/control_handler.hpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/control_handler.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/control_handler.hpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/control_handler.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/data_types.hpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/data_types.hpp
similarity index 94%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/data_types.hpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/data_types.hpp
index 6fb7c27..22d973a 100644
--- a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/data_types.hpp
+++ b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/data_types.hpp
@@ -445,12 +445,26 @@ struct TrajectoryTrackingTask {
     std::vector<TrajectoryPoint> path;
     bool   stop_at_end{false};
     double timeout_sec{0.0};
+    std::string required_external_pose_source_id;
+    double max_external_pose_age_ms{0.0};
+    double min_external_pose_quality_score{0.0};
+    std::string trajectory_id;
+    uint32_t segment_index{0};
+    uint32_t total_segments{0};
+    bool is_final_segment{false};
 };
 inline void from_json(const nlohmann::json& j, TrajectoryTrackingTask& t) {
     if (j.contains("path") && j["path"].is_array())
         t.path = j["path"].get<std::vector<TrajectoryPoint>>();
-    t.stop_at_end  = j.value("stop_at_end",  false);
-    t.timeout_sec  = j.value("timeout_sec",  0.0);
+    t.stop_at_end = j.value("stop_at_end", false);
+    t.timeout_sec = j.value("timeout_sec", 0.0);
+    t.required_external_pose_source_id = j.value("required_external_pose_source_id", std::string{});
+    t.max_external_pose_age_ms = j.value("max_external_pose_age_ms", 0.0);
+    t.min_external_pose_quality_score = j.value("min_external_pose_quality_score", 0.0);
+    t.trajectory_id = j.value("trajectory_id", std::string{});
+    t.segment_index = j.value("segment_index", uint32_t{0});
+    t.total_segments = j.value("total_segments", uint32_t{0});
+    t.is_final_segment = j.value("is_final_segment", false);
 }
 
 struct VelocityStepTask {
@@ -555,6 +569,11 @@ struct ControlReadinessResponse {
     bool        estop_released{false};
     bool        vehicle_safe_to_move{false};
     int64_t     checked_timestamp_us{0};
+    bool        external_pose_feedback_ready{false};
+    std::string external_pose_source_name;
+    double      external_pose_age_ms{0.0};
+    double      external_pose_quality_score{0.0};
+    std::string external_pose_transport;
 };
 
 inline void to_json(nlohmann::json& j, const ControlReadinessResponse& r)
@@ -570,6 +589,11 @@ inline void to_json(nlohmann::json& j, const ControlReadinessResponse& r)
         {"estop_released",             r.estop_released},
         {"vehicle_safe_to_move",       r.vehicle_safe_to_move},
         {"checked_timestamp_us",       r.checked_timestamp_us},
+        {"external_pose_feedback_ready", r.external_pose_feedback_ready},
+        {"external_pose_source_name",  r.external_pose_source_name},
+        {"external_pose_age_ms",       r.external_pose_age_ms},
+        {"external_pose_quality_score", r.external_pose_quality_score},
+        {"external_pose_transport",    r.external_pose_transport},
     };
 }
 
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/frame_codec.hpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/frame_codec.hpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/include/frame_codec.hpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/include/frame_codec.hpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/src/chassis_domain_server.cpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/src/chassis_domain_server.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/src/chassis_domain_server.cpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/src/chassis_domain_server.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/src/control_domain_server.cpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/src/control_domain_server.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/src/control_domain_server.cpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/src/control_domain_server.cpp
diff --git a/agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/src/main.cpp b/agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/src/main.cpp
similarity index 100%
rename from agv_calib_brain/src/agv_calib_core/vehicle_agent_windows/src/main.cpp
rename to agv_calib_brain/src/site_deployment/vehicle_agent_real/vehicle_agent_windows/src/main.cpp
diff --git a/agv_calib_brain/src/win_ubuntu_bridge.zip b/agv_calib_brain/src/win_ubuntu_bridge.zip
deleted file mode 100644
index ec9bd33131a9a4de48ae0309df76d2dee64138f9..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg b/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg
deleted file mode 100644
index 5de04e6..0000000
--- a/agv_calib_brain/src/win_ubuntu_bridge/calibration_control_interfaces/msg/TrajectoryTrackingTask.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-# =========================================================
-# 轨迹跟踪评估任务
-# 作用：让车端按当前控制参数跑一条测试轨迹
-# =========================================================
-
-# 轨迹点序列
-calibration_control_interfaces/TrajectoryPoint[] path
-# 结束后是否停车
-bool stop_at_end
-# 超时时间
-float64 timeout_sec
diff --git a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py b/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py
deleted file mode 100644
index abe3952..0000000
--- a/agv_calib_brain/src/win_ubuntu_bridge/vehicle_agent_gateway/launch/vehicle_agent_gateway.launch.py
+++ /dev/null
@@ -1,23 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package="vehicle_agent_gateway",
-            executable="vehicle_agent_gateway_node",
-            name="vehicle_agent_gateway",
-            output="screen",
-            parameters=[{
-                # Windows 车端 IP，实际部署时通过命令行覆盖：
-                # ros2 launch vehicle_agent_gateway vehicle_agent_gateway.launch.py chassis_host:=192.168.x.x
-                "chassis_host": "192.168.1.100",
-                "chassis_port": 9001,
-                "chassis_timeout_ms": 5000,
-                "control_host": "192.168.1.100",
-                "control_port": 9002,
-                "control_timeout_ms": 5000,
-            }],
-        ),
-    ])
diff --git a/agv_calib_brain/stop_isaac_real_sim_stack.sh b/agv_calib_brain/stop_isaac_real_sim_stack.sh
new file mode 100755
index 0000000..50838fb
--- /dev/null
+++ b/agv_calib_brain/stop_isaac_real_sim_stack.sh
@@ -0,0 +1,129 @@
+#!/usr/bin/env bash
+# 清理 Isaac 真实仿真闭环测试遗留进程。
+#
+# 默认只列出候选进程，不会停止任何东西。
+# 使用 --kill 后才会发送 SIGINT/SIGTERM。
+
+set -Eeuo pipefail
+
+DO_KILL=0
+
+usage() {
+  cat <<'EOF'
+用法:
+  ./stop_isaac_real_sim_stack.sh [选项]
+
+选项:
+  --list        只列出候选进程，默认行为。
+  --kill        停止候选进程，先 SIGINT，未退出再 SIGTERM。
+  -h, --help    显示帮助。
+
+说明:
+  该脚本只匹配 AutoCalib-Workshop 仿真闭环相关进程，例如:
+  launch_sim_stack.py、minimal_workshop_demo.launch.py、
+  workshop_orchestrator_v2_node、vehicle_agent_gateway_node 等。
+EOF
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --list)
+      DO_KILL=0
+      shift
+      ;;
+    --kill)
+      DO_KILL=1
+      shift
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      echo "[ERROR] 未知参数: $1" >&2
+      exit 1
+      ;;
+  esac
+done
+
+PATTERNS=(
+  "src/simulation/tools/launch_sim_stack.py --component isaac"
+  "src/simulation/tools/launch_sim_stack.py --component vehicle-agent"
+  "src/simulation/tools/launch_sim_stack.py --component sensor-agent"
+  "src/simulation/tools/launch_sim_stack.py --component wifi6-gateway"
+  "src/simulation/tools/launch_sim_stack.py --component external-pose-bridge"
+  "src/simulation/tools/launch_sim_stack.py --component sensor-ingest"
+  "minimal_workshop_demo.launch.py"
+  "build_calibration_room.py"
+  "isaac_vehicle_unified_agent_sim.py"
+  "isaac_vehicle_agent_sim.py"
+  "isaac_vehicle_sensor_agent_sim.py"
+  "vehicle_wifi6_gateway_sim.py"
+  "external_pose_wifi6_bridge_sim.py"
+  "workshop_sensor_ingest_sim.py"
+  "workshop_orchestrator_v2_node"
+  "vehicle_profile_manager_node"
+  "external_localization_service_node"
+  "sensor_calibration_service_node"
+  "chassis_calibration_service_node"
+  "control_calibration_service_node"
+  "vehicle_agent_gateway_node"
+)
+
+declare -A PID_TO_CMD=()
+
+for pattern in "${PATTERNS[@]}"; do
+  while IFS= read -r line; do
+    [[ -n "${line}" ]] || continue
+    pid="${line%% *}"
+    cmd="${line#* }"
+    [[ "${pid}" != "$$" ]] || continue
+    PID_TO_CMD["${pid}"]="${cmd}"
+  done < <(pgrep -af -- "${pattern}" 2>/dev/null || true)
+done
+
+if [[ "${#PID_TO_CMD[@]}" -eq 0 ]]; then
+  echo "[INFO] 未发现 AutoCalib 仿真闭环相关遗留进程。"
+  exit 0
+fi
+
+echo "[INFO] 发现候选进程:"
+for pid in "${!PID_TO_CMD[@]}"; do
+  echo "  pid=${pid}  ${PID_TO_CMD[${pid}]}"
+done | sort -n -k1.7
+
+if [[ "${DO_KILL}" -eq 0 ]]; then
+  echo "[INFO] 当前是只读检查。确认无误后可执行: ./stop_isaac_real_sim_stack.sh --kill"
+  exit 0
+fi
+
+echo "[INFO] 发送 SIGINT..."
+for pid in "${!PID_TO_CMD[@]}"; do
+  kill -INT "${pid}" >/dev/null 2>&1 || true
+done
+
+sleep 3
+
+echo "[INFO] 检查未退出进程并发送 SIGTERM..."
+for pid in "${!PID_TO_CMD[@]}"; do
+  if kill -0 "${pid}" >/dev/null 2>&1; then
+    echo "  SIGTERM pid=${pid}"
+    kill -TERM "${pid}" >/dev/null 2>&1 || true
+  fi
+done
+
+sleep 1
+
+LEFT=0
+for pid in "${!PID_TO_CMD[@]}"; do
+  if kill -0 "${pid}" >/dev/null 2>&1; then
+    echo "[WARN] 进程仍未退出: pid=${pid} ${PID_TO_CMD[${pid}]}" >&2
+    LEFT=1
+  fi
+done
+
+if [[ "${LEFT}" -eq 0 ]]; then
+  echo "[INFO] 清理完成。"
+else
+  echo "[WARN] 仍有进程未退出，请手动确认后再处理。" >&2
+fi
diff --git a/models/ack_m.usd b/models/ack_m.usd
new file mode 100644
index 0000000..ed42247
--- /dev/null
+++ b/models/ack_m.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a5488e0fd8934276deef6353f895076af83d6c471474e6a0266446de8c9e3f
+size 75606638