2026 赛季工程 ｜ CODENAME amorph

CI status

操作指南

https://w0ybodqyg7f.feishu.cn/wiki/Q9LIw2H5Viq3B2klIKdcK1jnnRc?from=from_copylink

环境配置

wget http://fishros.com/install -O fishros && . fishros

git clone ...
cd engineer-amorph
git submodule update --init --recursive --depth=1

# unshallow libInterpolate，否则cmake读不到版本号会报错
cd src/jetson/amorph_transport/libs/libInterpolate
git fetch --unshallow

git lfs pull

整个系统分为在车上的Jetson和自定义客户端两部分，需要单独配置环境

Jetson

1. 安装ROS2 rolling

2. 安装ultralytics

   python3 -m venv --system-site-packages .venv
   source .venv/bin/activate
   # ...安装jetson对应的pytorch版本
   pip install ultralytics

自定义客户端

1. 安装ROS2 jazzy

2. 安装相机udev规则

   sudo src/jetson/OrbbecSDK_ROS2/orbbec_camera/scripts/install_udev_rules.sh
   sudo udevadm control --reload-rules && sudo udevadm trigger

3. ↓

   sudo apt update
   # ros-${ROS_DISTRO}-librealsense2 \
   # ros-${ROS_DISTRO}-realsense2* \
   sudo apt install -y \
   ros-${ROS_DISTRO}-moveit \
   ros-${ROS_DISTRO}-xacro \
   ros-${ROS_DISTRO}-backward-ros \
   ros-${ROS_DISTRO}-trac-ik \
   ros-${ROS_DISTRO}-generate-parameter-library \
   ros-${ROS_DISTRO}-py-binding-tools \
   ros-${ROS_DISTRO}-ros2-control \
   ros-${ROS_DISTRO}-moveit-ros-perception \
   ros-${ROS_DISTRO}-apriltag-ros \
   ros-${ROS_DISTRO}-joint-state-publisher-gui \
   ros-${ROS_DISTRO}-joy \
   python3-transforms3d \
   libgflags-dev \
   nlohmann-json3-dev \
   ros-${ROS_DISTRO}-image-transport \
   ros-${ROS_DISTRO}-image-transport-plugins \
   ros-${ROS_DISTRO}-compressed-image-transport \
   ros-${ROS_DISTRO}-image-publisher \
   ros-${ROS_DISTRO}-camera-info-manager \
   ros-${ROS_DISTRO}-camera-calibration \
   ros-${ROS_DISTRO}-diagnostic-updater \
   ros-${ROS_DISTRO}-diagnostic-msgs \
   ros-${ROS_DISTRO}-statistics-msgs \
   ros-${ROS_DISTRO}-tf-transformations \
   libdw-dev \
   ros-${ROS_DISTRO}-foxglove-bridge \
   libgstreamer1.0-dev \
   libgstreamer-plugins-base1.0-dev \
   libgstreamer-plugins-bad1.0-dev \
   gstreamer1.0-plugins-base-apps \
   gstreamer1.0-plugins-bad \
   gstreamer1.0-plugins-good \
   gstreamer1.0-libav \
   protobuf-compiler

4. 安装 Protobuf + MQTT（自定义客户端通信）

   sudo apt install -y \
     protobuf-compiler \
     libprotobuf-dev \
     libpaho-mqtt-dev \
     libpaho-mqttpp-dev