feat:完善了自动标定车间的环境

2026-02-25 20:35:58 +08:00
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+# Python 缓存
+__pycache__/
+*.py[cod]
+*$py.class
+
+# 虚拟环境 (如果在这个目录下)
+venv/
+env/
+miniconda3/
+
+# Isaac Sim & 3D 缓存文件
+*.usd.cache
+*.usda.cache
+*.crash
+core.*
+
+# ROS 2 日志与编译文件
+log/
+build/
+install/
+*.db3
+*.bag
+.vscode/
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+# 🛠️ AutoCalib-Workshop: 传感器自动标定仿真车间
+
+本项目基于 NVIDIA Isaac Sim 和 ROS 2，搭建了一个用于多传感器联合标定（Camera + LiDAR）的仿真车间环境。场景内置了 4 个全局机械式旋转激光雷达和标定相机，用于输出高精度的合成数据，以供标定算法和 SLAM 算法的测试与验证。
+
+## 📑 目录
+1. [环境依赖](#1-环境依赖)
+2. [快速开始](#2-快速开始)
+3. [输出的 ROS 2 话题](#3-输出的-ros-2-话题)
+4. [团队协作与 Git 配置指南 (必读)](#4-团队协作与-git-配置指南-必读)
+5. [开发与分支规范](#5-开发与分支规范)
+
+---
+
+## 1. 环境依赖
+
+本项目不依赖 Omniverse Launcher，而是采用 **纯 Python (pip) 安装的 Isaac Sim**，便于团队在不同机器（或云端服务器）上快速复现环境。
+
+- **操作系统:** Ubuntu 22.04
+- **ROS 2:** Humble Hawksbill
+- **Python 环境:** Conda (Python 3.10)
+- **仿真引擎:** Isaac Sim 4.2+ (`isaacsim` pip package)
+
+---
+
+## 2. 快速开始
+
+### 2.1 克隆代码
+> ⚠️ **注意**：如果您是本团队的开发者，请优先完成 [第 4 节的 Git 配置指南](#4-团队协作与-git-配置指南-必读)，然后再克隆代码。
+
+使用 HTTPS 方式克隆（无需提前配置 SSH）：
+```bash
+git clone https://github.com/li-shihao-code/AutoCalib-Workshop.git
+cd AutoCalib-Workshop
+```
+
+### 2.2 配置虚拟环境与依赖
+请确保机器上已安装 Miniconda 或 Anaconda。
+
+```bash
+# 创建并激活 Conda 环境
+conda create -n AutoCalib_Workshop python=3.10 -y
+conda activate AutoCalib_Workshop
+
+# 安装 Isaac Sim 核心包 (基于 NVIDIA 官方源)
+pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
+
+# 安装 boto3 botocore s3transfer 功能包，将下列脚本复制到终端执行
+python -c """
+import sys
+import os
+import glob
+import subprocess
+
+# 1. 动态获取当前的 Python 环境根目录 (例如 /home/nvidia/.../AutoCalib_Workshop)
+env_base = sys.prefix
+
+# 2. 使用通配符动态搜索 isaacsim 的 pip_prebundle 目录，无视具体版本号和系统用户名
+search_pattern = os.path.join(env_base, 'lib', 'python*', 'site-packages', 'isaacsim', 'extscache', 'omni.kit.pip_archive*', 'pip_prebundle')
+matches = glob.glob(search_pattern)
+
+if not matches:
+    print('❌ 错误: 在当前环境中未找到 Isaac Sim 的 pip_prebundle 缓存目录。请确认 Isaac Sim 已正确安装。')
+    sys.exit(1)
+
+prebundle_path = matches[0]
+sys.path.insert(0, prebundle_path)
+
+try:
+    import botocore
+    ver = botocore.__version__
+    print('=========================================')
+    print(f'[*] 成功动态定位到底层 botocore 路径: {prebundle_path}')
+    print(f'[*] Isaac Sim 内部的 botocore 版本为: {ver}')
+    print(f'[*] 正在为你安装完美匹配的 boto3=={ver} ...')
+    print('=========================================')
+    
+    # 3. 强制安装匹配的 boto3
+    subprocess.check_call([sys.executable, '-m', 'pip', 'install', f'boto3=={ver}'])
+    print('[*] 🎉 修复完成！现在运行仿真脚本不会再报版本冲突错误了。')
+except ImportError:
+    print('❌ 错误: 找到了目录，但里面没有 botocore 模块。')
+"""
+```
+
+### 2.3 运行仿真车间
+每次运行前，请务必先 source ROS 2 环境，否则底层的 ROS 2 Bridge 插件将无法加载并发布话题！
+
+```bash
+# 1. 激活 ROS 2 环境 (请根据实际安装路径调整)
+source /opt/ros/humble/setup.bash
+
+# 2. 激活 Python 虚拟环境
+conda activate AutoCalib_Workshop
+
+# 3. 启动仿真脚本
+python build_calibration_room.py
+```
+
+---
+
+## 3. 输出的 ROS 2 话题
+
+脚本成功运行后，将在局域网内广播以下 ROS 2 话题。可直接使用 RViz2 订阅查看。
+
+💡 **RViz2 可视化提示：** 必须将 RViz2 的 Fixed Frame 设置为 `World`，方可查看到静止、规整的 3D 车间点云。
+
+| 数据类型             | 话题名称 (Topic)                  | 说明                                               |
+|------------------| -------------------------------- | -------------------------------------------------- |
+| TF 树           s | `/tf`                            | 包含所有雷达与相机的全局坐标关系 (World -> Lidar_xx) |
+| 图像               |`/workshop/camera/image_raw`      | 标定板对齐相机 (720p, 20Hz)                         |
+| 点云 (前左)          | `/workshop/lidar/fl/pointcloud`  | 机械旋转雷达 FL (fullScan 模式聚合的 360° 全帧点云)  |
+| 点云 (前右)          | `/workshop/lidar/fr/pointcloud`  | 机械旋转雷达 FR (fullScan 模式聚合的 360° 全帧点云)  |
+| 点云 (后左)          | `/workshop/lidar/bl/pointcloud`  | 机械旋转雷达 BL (fullScan 模式聚合的 360° 全帧点云)  |
+| 点云 (后右)          | `/workshop/lidar/br/pointcloud`  | 机械旋转雷达 BR (fullScan 模式聚合的 360° 全帧点云)  |
+
+---
+
+## 4. 团队协作与 Git 配置指南 (必读)
+
+新加入的团队成员，请严格按照以下步骤配置本地 Git 环境，以便顺畅地与组织私有仓库进行交互（使用 HTTPS 方式）。
+
+### 4.1 声明你的 Git 身份
+在首次提交代码前，必须全局设置你的身份信息：
+
+```bash
+git config --global user.name "你的名字或GitHub用户名"
+git config --global user.email "你注册GitHub的邮箱@example.com"
+```
+
+### 4.2 配置 HTTPS 访问 (使用 Personal Access Token)
+由于 GitHub 已废弃密码验证，HTTPS 方式需要使用 **Personal Access Token (PAT)** 作为密码。请按以下步骤生成并配置 token：
+
+1. **生成 Token：**
+   - 登录 GitHub，点击右上角头像 → **Settings** → **Developer settings** → **Personal access tokens** → **Tokens (classic)**。
+   - 点击 **Generate new token (classic)**。
+   - 在 **Note** 中输入用途说明（例如 “Isaac Sim 开发”）。
+   - 设置过期时间（建议选 90 天或自定义）。
+   - 在 **Select scopes** 中勾选 **`repo`**（完全控制私有仓库）以及必要的 **`workflow`** 权限（如需操作 GitHub Actions）。
+   - 点击 **Generate token**，**立即复制并保存生成的 token**（页面刷新后将无法再次查看）。
+
+2. **配置 Git 凭据存储（避免每次输入密码）：**
+   ```bash
+   # 启用 Git 凭据缓存（默认缓存 15 分钟）
+   git config --global credential.helper cache
+   
+   # 或者使用更持久的存储（凭据将明文保存在磁盘，请确保系统安全）
+   git config --global credential.helper store
+   ```
+
+3. **首次推送时输入凭据：**
+   - 执行 `git push` 等需要鉴权的操作时，Git 会提示输入用户名和密码。
+   - **用户名**：输入你的 GitHub 用户名。
+   - **密码**：输入刚才生成的 Personal Access Token（不是你的登录密码）。
+   - 如果配置了 credential helper，后续操作将不再重复提示。
+
+### 4.3 关键：切勿忽略 .gitignore
+Isaac Sim 和 ROS 2 运行期间会产生海量的缓存文件（如 `*.usd.cache`、`__pycache__`、`log/` 等）。
+
+**严禁将这些大文件推送到远程仓库！**  
+本仓库根目录已配置好 `.gitignore` 文件，请在执行 `git add .` 时确保不要使用 `-f` 强行添加被忽略的文件。
+
+---
+
+## 5. 开发与分支规范
+
+为了保证代码库的稳定，请团队成员遵守以下 Git 协作工作流。
+
+### 5.1 分支命名规范
+在创建新分支时，请使用 **前缀/功能描述** 的格式（例如：`feature/lidar-sync`）。
+
+| 前缀       | 适用场景                               | 示例                          |
+| ---------- | -------------------------------------- | ----------------------------- |
+| `feature/` | **新功能**：新增传感器、模型或标定算法 | `feature/add-calibration-node` |
+| `bugfix/`  | **修复错误**：解决代码逻辑、话题发布等 Bug | `bugfix/fix-tf-error`          |
+| `docs/`    | **文档更新**：修改 README 或注释       | `docs/update-readme`           |
+| `refactor/`| **代码重构**：优化代码结构而不改变功能 | `refactor/clean-lidar-logic`   |
+| `test/`    | **测试**：增加单元测试或仿真验证脚本   | `test/calibration-verify`      |
+
+### 5.2 保护主分支
+绝对不要直接在 `main` 分支上开发和提交代码。`main` 分支仅用于存放稳定、经过测试的代码。
+
+### 5.3 切分支干活
+开始新功能开发（如编写新的标定算法节点）时，请从最新的 `main` 切出一个独立分支：
+```bash
+git checkout main
+git pull origin main
+git checkout -b feature/your_feature_name
+```
+
+### 5.4 提交与推送
+```bash
+git add .
+git commit -m "feat: 添加了xxx功能"
+git push origin feature/your_feature_name
+```
+
+### 5.5 代码合并 (Code Review)
+开发完成后，请在 GitHub 页面上针对您的分支发起 **Pull Request (PR)**。由其他团队成员进行 Code Review，确认无误后再 Merge 合并入 `main` 分支。
+
+---
+
+以上即为调整后的完整 README 文档，已针对 HTTPS 访问组织私有仓库进行了配置说明，格式规范统一，内容清晰易读。
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+import os
+
+os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
+from isaacsim import SimulationApp
+
+simulation_app = SimulationApp({"headless": False})
+
+from omni.isaac.core.utils.extensions import enable_extension
+
+enable_extension("omni.isaac.ros2_bridge")
+simulation_app.update()
+
+import numpy as np
+from PIL import Image
+import omni.kit.commands
+from pathlib import Path
+
+# 【🔥核心防坑：只依赖底层基石 USD API】
+import omni.usd
+from pxr import Gf, Sdf, UsdShade, UsdGeom, Vt
+
+from omni.isaac.core import World
+from omni.isaac.core.objects import FixedCuboid
+from omni.isaac.core.utils.prims import create_prim
+from omni.isaac.core.utils.viewports import set_camera_view
+from omni.isaac.core.utils.rotations import euler_angles_to_quat
+
+from omni.isaac.sensor import Camera
+import omni.replicator.core as rep
+import omni.graph.core as og
+
+
+def create_checkerboard_image(filepath="checkerboard.png", rows=6, cols=9, square_size_px=100):
+    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)
+
+    pil_img = Image.fromarray(img_with_border)
+    abs_filepath = Path(filepath).resolve()
+    pil_img.save(abs_filepath)
+    usd_filepath = str(abs_filepath).replace("\\", "/")
+    print(f"[*] 棋盘格纹理已自动生成: {usd_filepath}")
+    return usd_filepath
+
+
+def add_corner_rotary_lidars(room_length=10.0, room_width=6.0, height=3.5,
+                             lidar_config="Example_Rotary",
+                             topic_prefix="/workshop/lidar"):
+    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)
+
+        pitch_angle = 15.0
+        quat = euler_angles_to_quat(np.array([0, pitch_angle, 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})
+
+
+# ================= 【🔥纯血底层 API：手工构造材质与带 UV 的网格】 =================
+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)  # 纯哑光去反光
+    pbr_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)  # 非金属
+
+    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))
+
+    # 🔥🔥🔥 核心修改 1：强制关闭 GPU 的双线性平滑插值，使用“最近邻(Nearest)”采样！🔥🔥🔥
+    # 这一步能让黑白方块的交界处像刀切一样锐利，彻底消除模糊过渡带！
+    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)
+    w, h = width / 2.0, height / 2.0
+
+    points = Vt.Vec3fArray([Gf.Vec3f(-w, -h, 0), Gf.Vec3f(w, -h, 0), Gf.Vec3f(w, h, 0), Gf.Vec3f(-w, h, 0)])
+    mesh.GetPointsAttr().Set(points)
+    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(-w, -h, -0.01), Gf.Vec3f(w, h, 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 build_workshop():
+    world = World(stage_units_in_meters=1.0)
+    L, W, H, T = 10.0, 6.0, 3.5, 0.2
+    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, -T / 2]),
+                                scale=np.array([L + 2 * T, W + 2 * T, T]), color=floor_color))
+    world.scene.add(
+        FixedCuboid(prim_path="/World/Workshop/Ceiling", name="ceiling", position=np.array([0, 0, H + T / 2]),
+                    scale=np.array([L + 2 * T, W + 2 * T, T]), color=wall_color))
+    world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Front", name="wall_front",
+                                position=np.array([L / 2 + T / 2, 0, H / 2]), scale=np.array([T, W, H]),
+                                color=wall_color))
+    world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Back", name="wall_back",
+                                position=np.array([-L / 2 - T / 2, 0, H / 2]), scale=np.array([T, W, H]),
+                                color=wall_color))
+    world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Left", name="wall_left",
+                                position=np.array([0, W / 2 + T / 2, H / 2]), scale=np.array([L + 2 * T, T, H]),
+                                color=wall_color))
+    world.scene.add(FixedCuboid(prim_path="/World/Workshop/Wall_Right", name="wall_right",
+                                position=np.array([0, -W / 2 - T / 2, H / 2]), scale=np.array([L + 2 * T, T, H]),
+                                color=wall_color))
+
+    light_positions = [(L / 4, W / 4, H - 0.5), (L / 4, -W / 4, H - 0.5), (-L / 4, W / 4, H - 0.5),
+                       (-L / 4, -W / 4, H - 0.5)]
+    for i, pos in enumerate(light_positions):
+        create_prim(prim_path=f"/World/Workshop/Lights/Light_{i}", prim_type="SphereLight", position=np.array(pos),
+                    attributes={"inputs:radius": 0.3, "inputs:intensity": 30000.0, "inputs:color": (1.0, 1.0, 0.95)})
+
+    cb_rows, cb_cols = 6, 9
+    cb_square_size = 0.20
+
+    # 🔥🔥🔥 核心修改 2：适当提升分辨率 🔥🔥🔥
+    # 将 square_size_px 从 100 提高到 500！
+    tex_path = create_checkerboard_image("checkerboard.png", rows=cb_rows, cols=cb_cols, square_size_px=500)
+
+    stage = omni.usd.get_context().get_stage()
+
+    mat_path = "/World/Workshop/Materials/CheckerboardMat"
+    usd_material = create_raw_usd_material(stage, mat_path, tex_path)
+
+    board_w = (cb_cols + 2) * cb_square_size
+    board_h = (cb_rows + 2) * cb_square_size
+    z_height = H / 2.0
+    offset = 0.05
+
+    board_configs = [
+        ("/World/Workshop/CalibrationBoards/Front", [L / 2 - offset, 0, z_height], [90, 0, 90]),
+        ("/World/Workshop/CalibrationBoards/Back", [-L / 2 + offset, 0, z_height], [90, 0, -90]),
+        ("/World/Workshop/CalibrationBoards/Left", [0, W / 2 - offset, z_height], [90, 0, 0]),
+        ("/World/Workshop/CalibrationBoards/Right", [0, -W / 2 + offset, z_height], [90, 0, 180])
+    ]
+
+    for path, pos, euler_rot in board_configs:
+        create_textured_board(stage, path, board_w, board_h, pos, euler_rot, usd_material)
+
+    camera = Camera(prim_path="/World/Workshop/CalibrationCamera", position=np.array([-4.0, 0.0, 3.5]), frequency=20,
+                    resolution=(1280, 720))
+    camera.set_world_pose(orientation=np.array([0.7071, 0.0, 0.7071, 0.0]))
+    camera.initialize()
+
+    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.get_render_product_path()),
+                                          ("ROS2Camera.inputs:topicName", "/AutoCalib_Workshop/camera/image_raw"),
+                                          ("ROS2Camera.inputs:type", "rgb")]})
+
+    add_corner_rotary_lidars(room_length=L, room_width=W, height=H - 0.2, lidar_config="Example_Rotary",
+                             topic_prefix="/AutoCalib_Workshop/lidar")
+
+    return world
+
+
+def main():
+    world = build_workshop()
+
+    world.reset()
+
+    set_camera_view(eye=np.array([-4.0, 0.0, 2.0]), target=np.array([5.0, 0.0, 3.5]))
+
+    print("======================================================")
+    print(" 🎯 标定车间完美运行！纯锐利边缘棋盘格已加载完毕！")
+    print(" ---------------------------------------------------")
+    print(" 💡 标定算法所需的关键真值参数 (Ground Truth)：")
+    print("   - 内部角点维度 (Pattern Size) : 8 x 5")
+    print("   - 绝对物理边长 (Square Size)  : 0.20 米 (20cm)")
+    print("======================================================")
+
+    while simulation_app.is_running():
+        world.step(render=True)
+
+    simulation_app.close()
+
+
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,37 @@
+#!/usr/bin/env bash
+# ---------------------------------------------------------
+# Autoware 编译脚本
+# ---------------------------------------------------------
+set -euo pipefail
+
+readonly RED='\033[0;31m'
+readonly GREEN='\033[0;32m'
+readonly NC='\033[0m'
+
+log()  { echo -e "${GREEN}[INFO]${NC} $*"; }
+warn() { echo -e "${RED}[WARN]${NC} $*" >&2; }
+
+BUILD_ARGS=(
+  colcon build
+  --symlink-install
+  --cmake-args -DCMAKE_BUILD_TYPE=Release
+)
+
+# 如需部分包编译，把 xxx 换成包名后取消下一行注释
+# BUILD_ARGS+=(--packages-select autoware_pose_initializer)
+
+log "Starting colcon build..."
+if AUTOWARE_COMPILE_WITH_CUDA=1 "${BUILD_ARGS[@]}"; then
+  log "Build succeeded. Sourcing workspace..."
+
+  # 临时关闭 -u，避免 COLCON_TRACE 未定义报错
+  set +u
+  source install/setup.bash
+  set -u
+
+  log "Done."
+else
+  warn "Build failed, skip sourcing."
+fi
+
+
@@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 3.8)
+project(calibration_sim)
+
+# 1. 基础编译设置
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# 2. 寻找依赖库
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)    # 用于 PointCloud2
+find_package(geometry_msgs REQUIRED)  # 用于坐标变换
+find_package(tf2_ros REQUIRED)        # 坐标变换工具
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(pcl_conversions REQUIRED)# ROS <-> PCL 转换桥梁
+
+# 寻找系统级安装的 PCL 库 (非 ROS 包)
+find_package(PCL REQUIRED COMPONENTS common io visualization filters registration segmentation)
+
+# 3. 定义可执行文件 (你的核心 C++ 节点)
+# 假设你将来会写一个 lidar_fusion_node.cpp
+#add_executable(lidar_fusion_node src/lidar_fusion_node.cpp)
+
+# 4. 配置头文件路径
+#target_include_directories(lidar_fusion_node PUBLIC
+#  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ # $<INSTALL_INTERFACE:include>
+ # ${PCL_INCLUDE_DIRS}  # 必须包含 PCL 的头文件
+#)
+
+# 5. 链接库文件
+# 链接 ROS 相关的依赖
+#ament_target_dependencies(lidar_fusion_node
+ # rclcpp
+ # std_msgs
+  #sensor_msgs
+  #geometry_msgs
+ # tf2_ros
+ # tf2_geometry_msgs
+ # pcl_conversions
+#)
+
+# 链接 PCL 相关的依赖 (PCL 不是 ament 包，需要单独链接)
+#target_link_libraries(lidar_fusion_node
+ # ${PCL_LIBRARIES}
+#)
+
+# 6. 安装规则 (至关重要!)
+
+# 安装可执行文件 (C++ 节点)
+#install(TARGETS
+ # lidar_fusion_node
+#  DESTINATION lib/${PROJECT_NAME}
+#)
+
+# 安装脚本文件 (如果你有 Python 节点)
+# install(PROGRAMS
+#   scripts/my_python_script.py
+#   DESTINATION lib/${PROJECT_NAME}
+# )
+
+# 安装资源目录 (Launch, URDF, RViz, Worlds)
+# 如果没有这步，你的 ros2 launch 命令会找不到文件
+install(DIRECTORY
+  launch
+  urdf
+  rviz
+  worlds
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# 7. 导出依赖与生成包
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips the linter which checks for eccentric indentation
+  # comment the line when it conforms to defaults
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
@@ -0,0 +1,73 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, ExecuteProcess
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+import xacro
+
+def generate_launch_description():
+    pkg_name = 'calibration_sim'
+    
+    # 1. 解析 URDF
+    infra_xacro = os.path.join(get_package_share_directory(pkg_name), 'urdf', 'workshop_sensors.xacro')
+    infra_doc = xacro.process_file(infra_xacro)
+    infra_xml = infra_doc.toxml()
+
+    agv_xacro = os.path.join(get_package_share_directory(pkg_name), 'urdf', 'agv.xacro')
+    agv_doc = xacro.process_file(agv_xacro)
+    agv_xml = agv_doc.toxml()
+
+    world_path = os.path.join(
+        get_package_share_directory('calibration_sim'), 
+        'worlds', 
+        'calibration_room.world'
+    )
+
+    # 2. 启动 Gazebo
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
+        launch_arguments={'world': world_path}.items(), # 【关键】指定 world 参数
+    )
+
+    # 3. 生成基础设施 (4个雷达)
+    spawn_infra = Node(
+        package='gazebo_ros', executable='spawn_entity.py',
+        arguments=['-topic', 'robot_description_infra', '-entity', 'workshop_sensors'],
+        output='screen'
+    )
+    
+    # 发布基础设施的 State Publisher (为了TF树)
+    infra_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='infra_state_publisher',
+        parameters=[{'robot_description': infra_xml}],
+        remappings=[('robot_description', 'robot_description_infra')]
+    )
+
+    # 4. 生成 AGV
+    spawn_agv = Node(
+        package='gazebo_ros', executable='spawn_entity.py',
+        arguments=['-topic', 'robot_description_agv', '-entity', 'my_agv', '-z', '0.1'],
+        output='screen'
+    )
+
+    # 发布 AGV 的 State Publisher
+    agv_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='agv_state_publisher',
+        parameters=[{'robot_description': agv_xml}],
+        remappings=[('robot_description', 'robot_description_agv')]
+    )
+
+    return LaunchDescription([
+        gazebo,
+        infra_state_publisher,
+        spawn_infra,
+        agv_state_publisher,
+        spawn_agv,
+        # 这里还可以加上 RViz 的节点
+    ])
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>calibration_sim</name>
+  <version>0.0.0</version>
+  <description>Simulated environment for workshop calibration project</description>
+  <maintainer email="user@todo.todo">User</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>pcl_conversions</depend>
+  
+  <depend>gazebo_ros</depend> <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_agv">
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0.1" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry><box size="0.5 0.3 0.1"/></geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry><box size="0.5 0.3 0.1"/></geometry>
+    </collision>
+    <inertial>
+      <mass value="5.0"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+
+  <xacro:macro name="wheel" params="prefix y_offset">
+    <link name="${prefix}_wheel">
+      <visual>
+        <geometry><cylinder radius="0.1" length="0.05"/></geometry>
+        <material name="black">
+           <color rgba="0 0 0 1"/>
+        </material>
+      </visual>
+      <collision>
+        <geometry><cylinder radius="0.1" length="0.05"/></geometry>
+      </collision>
+      <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      </inertial>
+    </link>
+
+    <joint name="${prefix}_wheel_joint" type="continuous">
+      <parent link="base_link"/>
+      <child link="${prefix}_wheel"/>
+      <origin xyz="0 ${y_offset} -0.05" rpy="-1.57 0 0"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:wheel prefix="left" y_offset="0.2"/>
+  <xacro:wheel prefix="right" y_offset="-0.2"/>
+
+  <gazebo>
+    <plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
+      <ros>
+        <namespace>/</namespace>
+      </ros>
+      <left_joint>left_wheel_joint</left_joint>
+      <right_joint>right_wheel_joint</right_joint>
+      <wheel_separation>0.4</wheel_separation>
+      <wheel_diameter>0.2</wheel_diameter>
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+    </plugin>
+  </gazebo>
+
+</robot>
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="calibration_board">
+
+  <link name="board_link">
+    <visual>
+      <geometry>
+        <box size="1.0 1.0 0.02"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 1.0 0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+
+  <gazebo reference="board_link">
+    <material>Gazebo/Checkerboard</material>
+  </gazebo>
+
+  <gazebo>
+    <static>true</static>
+  </gazebo>
+
+</robot>
@@ -0,0 +1,87 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="workshop_infrastructure">
+
+  <gazebo> <static>true</static> </gazebo>
+  
+  <link name="workshop_anchor">
+    <visual> <geometry><sphere radius="0.01"/></geometry> </visual>
+    <inertial>
+      <mass value="100"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+  </link>
+
+  <material name="lidar_black"> <color rgba="0.1 0.1 0.1 1"/> </material>
+
+  <xacro:macro name="solid_state_lidar" params="name x y z yaw">
+    <joint name="${name}_joint" type="fixed">
+      <parent link="workshop_anchor"/>
+      <child link="${name}_link"/>
+      <origin xyz="${x} ${y} ${z}" rpy="0 0.35 ${yaw}"/>
+    </joint>
+
+    <link name="${name}_link">
+      <inertial>
+        <mass value="0.5"/> <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual>
+        <geometry><box size="0.114 0.136 0.049"/></geometry> 
+        <material name="lidar_black"/>
+      </visual>
+      <collision>
+        <geometry><box size="0.114 0.136 0.049"/></geometry>
+      </collision>
+    </link>
+
+    <gazebo reference="${name}_link">
+      <material>Gazebo/FlatBlack</material>
+      
+      <sensor type="gpu_ray" name="${name}_sensor">
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize> 
+        <update_rate>10</update_rate> <ray>
+          <scan>
+            <horizontal>
+              <samples>600</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.7854</min_angle>
+              <max_angle>0.7854</max_angle>
+            </horizontal>
+            
+            <vertical>
+              <samples>128</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.2181</min_angle>
+              <max_angle>0.2251</max_angle>
+            </vertical>
+          </scan>
+          
+          <range>
+            <min>0.5</min> <max>210.0</max>
+          </range>
+          
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.03</stddev>
+          </noise>
+        </ray>
+        
+        <plugin name="${name}_controller" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <namespace>/infrastructure</namespace>
+            <remapping>~/out:=${name}/points</remapping>
+          </ros>
+          <output_type>sensor_msgs/PointCloud2</output_type>
+          <frame_name>${name}_link</frame_name>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:solid_state_lidar name="lidar_fl" x="4.8"  y="4.8"  z="2.4" yaw="-2.356"/>
+  <xacro:solid_state_lidar name="lidar_fr" x="4.8"  y="-4.8" z="2.4" yaw="2.356"/>
+  <xacro:solid_state_lidar name="lidar_bl" x="-4.8" y="4.8"  z="2.4" yaw="-0.785"/>
+  <xacro:solid_state_lidar name="lidar_br" x="-4.8" y="-4.8" z="2.4" yaw="0.785"/>
+
+</robot>
@@ -0,0 +1,101 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="calibration_world">
+    
+    <scene>
+      <ambient>0.6 0.6 0.6 1.0</ambient>
+      <background>0.7 0.7 0.7 1.0</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <include><uri>model://ground_plane</uri></include>
+
+    <model name="calibration_room_structure">
+      <static>true</static>
+      <pose>0 0 0 0 0 0</pose>
+      <link name="wall_north"><pose>0 5 1.25 0 0 0</pose><collision name="c"><geometry><box><size>10.2 0.2 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>10.2 0.2 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
+      <link name="wall_south"><pose>0 -5 1.25 0 0 0</pose><collision name="c"><geometry><box><size>10.2 0.2 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>10.2 0.2 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
+      <link name="wall_east"><pose>5 0 1.25 0 0 0</pose><collision name="c"><geometry><box><size>0.2 10.0 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>0.2 10.0 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
+      <link name="wall_west"><pose>-5 0 1.25 0 0 0</pose><collision name="c"><geometry><box><size>0.2 10.0 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>0.2 10.0 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
+    </model>
+
+    <include><uri>model://checkerboard_plane</uri><name>board_n1</name><pose>-3.75 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_n2</name><pose>-1.25 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_n3</name><pose> 1.25 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_n4</name><pose> 3.75 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+
+    <include><uri>model://checkerboard_plane</uri><name>board_s1</name><pose>-3.75 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_s2</name><pose>-1.25 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_s3</name><pose> 1.25 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_s4</name><pose> 3.75 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
+
+    <include><uri>model://checkerboard_plane</uri><name>board_e1</name><pose>4.89 -3.75 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_e2</name><pose>4.89 -1.25 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_e3</name><pose>4.89  1.25 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_e4</name><pose>4.89  3.75 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
+
+    <include><uri>model://checkerboard_plane</uri><name>board_w1</name><pose>-4.89 -3.75 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_w2</name><pose>-4.89 -1.25 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_w3</name><pose>-4.89  1.25 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>board_w4</name><pose>-4.89  3.75 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
+
+
+    <model name="ceiling_lights_4x4">
+      <static>true</static>
+      <pose>0 0 2.5 0 0 0</pose>
+      <link name="link">
+        <visual name="v1_1"><cast_shadows>0</cast_shadows><pose>-4.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v1_2"><cast_shadows>0</cast_shadows><pose>-1.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v1_3"><cast_shadows>0</cast_shadows><pose> 1.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v1_4"><cast_shadows>0</cast_shadows><pose> 4.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v2_1"><cast_shadows>0</cast_shadows><pose>-4.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v2_2"><cast_shadows>0</cast_shadows><pose>-1.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v2_3"><cast_shadows>0</cast_shadows><pose> 1.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v2_4"><cast_shadows>0</cast_shadows><pose> 4.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v3_1"><cast_shadows>0</cast_shadows><pose>-4.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v3_2"><cast_shadows>0</cast_shadows><pose>-1.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v3_3"><cast_shadows>0</cast_shadows><pose> 1.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v3_4"><cast_shadows>0</cast_shadows><pose> 4.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v4_1"><cast_shadows>0</cast_shadows><pose>-4.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v4_2"><cast_shadows>0</cast_shadows><pose>-1.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v4_3"><cast_shadows>0</cast_shadows><pose> 1.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+        <visual name="v4_4"><cast_shadows>0</cast_shadows><pose> 4.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
+      </link>
+    </model>
+
+    <light name='l1_1' type='point'><pose>-4.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l1_2' type='point'><pose>-1.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l1_3' type='point'><pose> 1.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l1_4' type='point'><pose> 4.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l2_1' type='point'><pose>-4.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l2_2' type='point'><pose>-1.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l2_3' type='point'><pose> 1.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l2_4' type='point'><pose> 4.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l3_1' type='point'><pose>-4.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l3_2' type='point'><pose>-1.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l3_3' type='point'><pose> 1.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l3_4' type='point'><pose> 4.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l4_1' type='point'><pose>-4.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l4_2' type='point'><pose>-1.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l4_3' type='point'><pose> 1.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+    <light name='l4_4' type='point'><pose> 4.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
+
+
+    <include><uri>model://checkerboard_plane</uri><name>floor_n1</name><pose>-3.75 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_n2</name><pose>-1.25 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_n3</name><pose> 1.25 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_n4</name><pose> 3.75 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+
+    <include><uri>model://checkerboard_plane</uri><name>floor_s1</name><pose>-3.75 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_s2</name><pose>-1.25 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_s3</name><pose> 1.25 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_s4</name><pose> 3.75 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+
+    <include><uri>model://checkerboard_plane</uri><name>floor_e1</name><pose>3.75 -1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_e2</name><pose>3.75  1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+
+    <include><uri>model://checkerboard_plane</uri><name>floor_w1</name><pose>-3.75 -1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+    <include><uri>model://checkerboard_plane</uri><name>floor_w2</name><pose>-3.75  1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
+
+  </world>
+</sdf>
@@ -0,0 +1,104 @@
+syntax = "proto3";
+
+// 规范包名，防止与其他业务（如底盘运控调优）的接口冲突
+package agv.calibration.sensor;
+
+// =========================================================
+// 核心服务：传感器自动化标定代理服务 
+// 部署端：Windows车端 (Server) | 调用端：Linux服务器 (Client)
+// =========================================================
+service SensorCalibrationService {
+  // 1. 走位调度：指挥车辆开到特定的观测点并【绝对静止】
+  rpc MoveToObservationPose (PoseRequest) returns (StandardResponse);
+
+  // 2. 同步锁存：命令车辆瞬间冻结指定传感器的当前画面/点云到内存
+  rpc TriggerSyncCapture (CaptureRequest) returns (CaptureResponse);
+
+  // 3. 大文件下载：通过凭证流式拉取图片和点云（注意：使用 stream 防爆内存）
+  rpc DownloadImage (DataFetchRequest) returns (stream FileChunk);
+  rpc DownloadPointCloud (DataFetchRequest) returns (stream FileChunk);
+
+  // 4. 标定闭环：Linux算完矩阵后，下发给车端持久化保存（覆写配置文件）
+  rpc CommitCalibrationResults (CalibrationPayload) returns (StandardResponse);
+}
+
+// =========================================================
+// 基础响应
+// =========================================================
+message StandardResponse {
+  bool success = 1;
+  string message = 2; // 成功提示或具体的报错原因（如：碰撞急停）
+}
+
+// =========================================================
+// 1. 物理走位请求 (走)
+// =========================================================
+message PoseRequest {
+  double target_x_m = 1;     // 目标 X 坐标 (米)
+  double target_y_m = 2;     // 目标 Y 坐标 (米)
+  double target_yaw_deg = 3; // 目标偏航角 (度)
+  bool is_relative = 4;      // true: 相对当前位置移动; false: 绝对世界坐标
+}
+
+// =========================================================
+// 2. 触发同步抓拍请求与响应 (停与拍)
+// =========================================================
+message CaptureRequest {
+  // 告诉车端这次要同时拍哪些传感器，例如 ["cam_front", "lidar_top"]
+  repeated string sensor_ids = 1; 
+}
+
+message CaptureResponse {
+  bool success = 1;
+  // 极度关键：车端打上的高精度硬件时间戳(微秒)。
+  // 这是提取数据的“取件码”，保证多传感器在物理时间上的绝对对齐！
+  int64 capture_timestamp_us = 2; 
+  string error_message = 3;
+}
+
+// =========================================================
+// 3. 大文件下载请求与文件流块 (传)
+// =========================================================
+message DataFetchRequest {
+  int64 capture_timestamp_us = 1; // 阶段2拿到的取件码
+  string sensor_id = 2;           // 具体要下载哪个传感器，例如 "cam_front"
+}
+
+// 流式文件块 (规避 gRPC 单条消息默认 4MB 的内存限制)
+message FileChunk {
+  bytes chunk_data = 1;   // 文件的二进制分块（建议每次发 512KB - 1MB）
+  bool is_last_chunk = 2; // 是否为最后一块
+  string format_ext = 3;  // 格式标注，如 "png", "bmp", "pcd"
+}
+
+// =========================================================
+// 4. 标定结果载荷（支持内参、外参灵活组合组合发回车端） (写)
+// =========================================================
+message CameraIntrinsics {
+  string camera_id = 1;
+  double fx = 2; double fy = 3;
+  double cx = 4; double cy = 5;
+  repeated double dist_coeffs = 6; // 畸变系数阵列 [k1, k2, p1, p2, k3]
+}
+
+message SensorExtrinsics {
+  string source_frame = 1; // 源坐标系，如 "lidar_top" 或 "cam_left"
+  string target_frame = 2; // 目标坐标系，如 "cam_front" 或 "base_link"
+  
+  // 平移向量 (强制规定单位为毫米 mm)
+  double trans_x_mm = 3; 
+  double trans_y_mm = 4; 
+  double trans_z_mm = 5;
+  
+  // 旋转姿态 (强制规定单位为度 degrees)
+  double roll_deg = 6; 
+  double pitch_deg = 7; 
+  double yaw_deg = 8;
+}
+
+message CalibrationPayload {
+  string task_id = 1; // 标定任务流水号，用于 MES 系统追溯
+  // 采用 repeated 数组：Linux 可以一次性下发多个相机的内参和多个外参
+  repeated CameraIntrinsics updated_intrinsics = 2;
+  repeated SensorExtrinsics updated_extrinsics = 3;
+}
@@ -0,0 +1,167 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from matplotlib import cm
+import matplotlib.patheffects as path_effects
+from mpl_toolkits.mplot3d import Axes3D
+
+
+# ==========================================
+# 核心理论模块：通信迟滞容忍的动力学风险场发生器
+# (Latency-Tolerant Kinematic Risk Field Generator)
+# ==========================================
+def generate_kinematic_risk_field(X, Y, obj):
+    """
+    根据车辆的物理状态和通信迟滞，生成高斯风险势能场
+    """
+    x0, y0 = obj['pos']
+    vx, vy = obj['vel']
+    L, W = obj['size']
+    dt = obj['latency']  # V2X 通信延迟 (秒)
+
+    # 1. 运动学位置补偿 (由于延迟，目标在真实物理世界已经往前移动了)
+    x_real = x0 + vx * dt
+    y_real = y0 + vy * dt
+
+    # 2. 时空耦合：协方差膨胀 (速度越快、延迟越高，沿运动方向的不确定性风险拖尾越长)
+    speed = np.hypot(vx, vy)
+    # 基础物理边界 (方差，代表车辆本身的尺寸)
+    sigma_x = L / 2.0
+    sigma_y = W / 2.0
+
+    if speed > 0.1:
+        # ⚠️ 顶刊核心公式：沿着运动方向剧烈拉伸协方差！
+        stretch_factor = 1.0 + 0.8 * speed * dt
+        sigma_x_dilated = sigma_x * stretch_factor
+        theta = np.arctan2(vy, vx)
+    else:
+        sigma_x_dilated = sigma_x
+        theta = 0.0
+
+    # 3. 旋转协方差矩阵，对齐到运动方向
+    cos_t, sin_t = np.cos(theta), np.sin(theta)
+    R = np.array([[cos_t, -sin_t],
+                  [sin_t, cos_t]])
+    S = np.array([[sigma_x_dilated ** 2, 0],
+                  [0, sigma_y ** 2]])
+    Cov = R @ S @ R.T  # 膨胀后的 2D 协方差矩阵
+    Cov_inv = np.linalg.inv(Cov)
+
+    # 4. 计算二维高斯势能曲面 (Mahalanobis Distance)
+    dx = X - x_real
+    dy = Y - y_real
+    # 矢量化二次型计算
+    E = np.exp(-0.5 * (Cov_inv[0, 0] * dx ** 2 + 2 * Cov_inv[0, 1] * dx * dy + Cov_inv[1, 1] * dy ** 2))
+    return E * obj['risk_weight']
+
+
+# ==========================================
+# 场景构建：BEV 上帝视角物理空间初始化
+# ==========================================
+# 设定一个 50米 x 50米 的路口物理网格 (高分辨率)
+x_grid = np.linspace(0, 50, 300)
+y_grid = np.linspace(0, 50, 300)
+X, Y = np.meshgrid(x_grid, y_grid)
+
+# 定义场景中的交通参与者 (完美复现你的任务书痛点)
+objects = [
+    {
+        'name': '高速来车 (带极端V2X延迟)',
+        'pos': (10, 25), 'vel': (18, 0),  # 速度 18m/s (约65km/h)向右
+        'size': (4.8, 2.0), 'latency': 0.4,  # 恐怖的 400ms 网络延迟！
+        'risk_weight': 1.0
+    },
+    {
+        'name': '非标事件: 散落物/掉落轮胎',
+        'pos': (35, 12), 'vel': (0, 0),  # 静止
+        'size': (1.5, 1.5), 'latency': 0.0,
+        'risk_weight': 0.8
+    },
+    {
+        'name': '鬼探头行人 (突然窜出)',
+        'pos': (28, 42), 'vel': (0, -4),  # 速度 4m/s 向下横穿
+        'size': (0.8, 0.8), 'latency': 0.1,
+        'risk_weight': 0.9
+    }
+]
+
+# ==========================================
+# 计算全局连续风险势能场 (Superposition of Risk Fields)
+# ==========================================
+Total_Risk_Field = np.zeros_like(X)
+for obj in objects:
+    E_obj = generate_kinematic_risk_field(X, Y, obj)
+    Total_Risk_Field = np.maximum(Total_Risk_Field, E_obj)  # 多风险源叠加取极值
+
+# ==========================================
+# 惊艳大招：计算势能梯度（多车协同调速排斥力场） F = -∇E
+# ==========================================
+dEy, dEx = np.gradient(Total_Risk_Field)
+Force_X = -dEx
+Force_Y = -dEy
+
+# ==========================================
+# 顶刊级数据可视化渲染 (Matplotlib 画图)
+# ==========================================
+fig = plt.figure(figsize=(16, 7), facecolor='#111111')  # 暗黑极客底色
+fig.suptitle("End-to-End Continuous Risk Potential Field for V2X Cooperative Driving",
+             fontsize=18, fontweight='bold', color='white', y=0.98)
+
+# --- 子图 1: 3D 连续风险势能面 ---
+ax1 = fig.add_subplot(1, 2, 1, projection='3d')
+ax1.set_facecolor('#111111')
+surf = ax1.plot_surface(X, Y, Total_Risk_Field, cmap=cm.inferno, alpha=0.9, rstride=3, cstride=3, linewidth=0,
+                        antialiased=True)
+
+ax1.set_title("(a) 3D Spatiotemporal Risk Surface\n【任务2】时空演化连续风险曲面", fontsize=14, fontweight='bold',
+              color='white', pad=15)
+ax1.set_xlabel("BEV X-Coordinate (m)", color='white')
+ax1.set_ylabel("BEV Y-Coordinate (m)", color='white')
+ax1.set_zlabel("Risk Potential Energy ($E_{risk}$)", color='white')
+ax1.tick_params(colors='white')
+ax1.xaxis.pane.fill = False
+ax1.yaxis.pane.fill = False
+ax1.zaxis.pane.fill = False
+ax1.view_init(elev=40, azim=-45)  # 绝佳的观察视角
+
+# --- 子图 2: 2D 梯度力场与规控闭环 ---
+ax2 = fig.add_subplot(1, 2, 2)
+ax2.set_facecolor('#111111')
+# 画势能等高线
+contour = ax2.contourf(X, Y, Total_Risk_Field, levels=30, cmap=cm.inferno, alpha=0.8)
+
+# 画排斥力场 (Quiver 矢量箭头)
+step = 10  # 箭头采样稀疏度
+Q = ax2.quiver(X[::step, ::step], Y[::step, ::step], Force_X[::step, ::step], Force_Y[::step, ::step],
+               color='cyan', scale=1.5, width=0.003, alpha=0.9)
+
+
+# 标注解释
+def add_label(x, y, text):
+    ax2.text(x, y, text, color='white', ha='center', fontsize=10,
+             path_effects=[path_effects.withStroke(linewidth=2, foreground='k')])
+
+
+add_label(35, 15, "Static Debris\n(Isotropic Field)")
+add_label(20, 25, "Latency-Dilated Comet Tail\n($\Delta t = 400ms$)")
+add_label(28, 38, "Crossing Pedestrian")
+
+ax2.set_title("(b) Gradient-Driven Repulsive Force Field ($-\\nabla E$)\n【任务3】风险梯度驱动的多车协同调速诱导力场",
+              fontsize=14, fontweight='bold', color='white', pad=15)
+ax2.set_xlabel("BEV X-Coordinate (m)", color='white')
+ax2.set_ylabel("BEV Y-Coordinate (m)", color='white')
+ax2.tick_params(colors='white')
+ax2.set_xlim(0, 50)
+ax2.set_ylim(0, 50)
+ax2.set_aspect('equal')
+ax2.grid(color='white', linestyle='--', linewidth=0.3, alpha=0.2)
+
+# 添加 Colorbar
+cbar = fig.colorbar(surf, ax=[ax1, ax2], shrink=0.5, aspect=15, pad=0.05)
+cbar.set_label('Collision Probability / Risk Intensity', color='white')
+cbar.ax.yaxis.set_tick_params(color='white')
+plt.setp(plt.getp(cbar.ax.axes, 'yticklabels'), color='white')
+
+plt.tight_layout(pad=3.0)
+plt.show()
+# 如果你想保存高清原图，取消下一行的注释
+# plt.savefig("v2x_risk_field.png", dpi=300, facecolor=fig.get_facecolor(), edgecolor='none')