fix: up

base-move-demo.py

@@ -39,10 +39,10 @@ def main():
         Ctrl.base_msg.stop()    
 
         # GO STRAIGHT TEST
-        go_straight(Ctrl, msg, distance=0.2, absolute=True)
+        go_straight(Ctrl, msg, distance=0.2)
 
                 # TURN TEST
-        turn_degree_v2(Ctrl, msg, degree=90, absolute=True)    
+        turn_degree_v2(Ctrl, msg, degree=90)    
 
         
     except KeyboardInterrupt:

captured_images/dual_path/image_info_20250817_144238.txt

@@ -0,0 +1,8 @@
+图像信息记录 - 20250817_144238
+图像尺寸: 1920 x 1080
+编码格式: rgb8
+步长: 5760
+数据大小: 6220800 字节
+ROS节点: simple_image_subscriber
+话题: /rgb_camera/image_raw
+图像数据已成功接收，ROS模块工作正常!

requirements_clean.txt

@@ -0,0 +1,32 @@
+# 机器狗控制系统 - 精简依赖列表
+# 基于代码分析自动生成
+
+# 核心计算库
+numpy>=1.19.0
+opencv-python>=4.5.0
+
+# 通信和ROS2相关
+rclpy>=2.0.0
+sensor-msgs>=4.0.0
+cv-bridge>=3.1.0
+lcm>=1.4.0
+
+# 计算机视觉和QR码识别
+qreader>=3.0.0
+
+# 机器学习
+scikit-learn>=1.0.0
+
+# 数据可视化
+matplotlib>=3.3.0
+
+# 配置文件处理
+toml>=0.10.0
+
+# 并行处理
+joblib>=1.0.0
+
+# 注意：
+# 1. cyberdog_marker 是自定义ROS2包，需要单独安装
+# 2. 此列表基于代码分析生成，可能需要根据实际环境调整版本号
+# 3. 部分ROS2相关包可能已通过ros-galactic-desktop等包安装 

test/ros2/rgb-camera/img-raw-get-simple.py

@@ -0,0 +1,109 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
+from datetime import datetime
+import os
+
+class SimpleImageSubscriber(Node):
+    def __init__(self):
+        super().__init__('simple_image_subscriber')
+        
+        # Define QoS Profile
+        qos_profile = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,
+            history=QoSHistoryPolicy.KEEP_LAST,
+            depth=10
+        )
+
+        self.subscription = self.create_subscription(
+            Image,
+            '/rgb_camera/image_raw',
+            self.image_callback,
+            qos_profile=qos_profile
+        )
+        self.subscription  # Prevent unused variable warning
+        self.image_received = False  # Flag to track if image is received
+        self.image_count = 0  # Count received images
+
+    def image_callback(self, msg):
+        if self.image_received:
+            return  # Skip processing if already processed
+
+        try:
+            # Get image metadata
+            height = msg.height
+            width = msg.width
+            encoding = msg.encoding
+            step = msg.step
+            data_size = len(msg.data)
+            
+            # Log image information
+            self.get_logger().info(f"收到图像消息!")
+            self.get_logger().info(f"图像尺寸: {width} x {height}")
+            self.get_logger().info(f"编码格式: {encoding}")
+            self.get_logger().info(f"步长: {step}")
+            self.get_logger().info(f"数据大小: {data_size} 字节")
+            
+            # Save image data to a simple text file for verification
+            self.save_image_info(height, width, encoding, step, data_size)
+            
+            self.image_received = True
+            self.image_count += 1
+            
+            # Log success and continue listening for more images
+            self.get_logger().info(f"成功处理图像 #{self.image_count}")
+            
+            # Optionally shutdown after receiving a few images
+            if self.image_count >= 3:
+                self.get_logger().info("已收到3张图像，测试完成!")
+                self.destroy_node()
+                rclpy.shutdown()
+                exit(0)
+
+        except Exception as e:
+            self.get_logger().error(f'处理图像时出错: {str(e)}')
+
+    def save_image_info(self, height, width, encoding, step, data_size):
+        # Create output directory if it doesn't exist
+        output_dir = "./captured_images/dual_path"
+        os.makedirs(output_dir, exist_ok=True)
+        
+        # Generate a timestamped filename
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        filename = f"{output_dir}/image_info_{timestamp}.txt"
+        
+        try:
+            with open(filename, 'w', encoding='utf-8') as f:
+                f.write(f"图像信息记录 - {timestamp}\n")
+                f.write(f"图像尺寸: {width} x {height}\n")
+                f.write(f"编码格式: {encoding}\n")
+                f.write(f"步长: {step}\n")
+                f.write(f"数据大小: {data_size} 字节\n")
+                f.write(f"ROS节点: {self.get_name()}\n")
+                f.write(f"话题: /rgb_camera/image_raw\n")
+                f.write("图像数据已成功接收，ROS模块工作正常!\n")
+            
+            self.get_logger().info(f"图像信息已保存到: {filename}")
+        except Exception as e:
+            self.get_logger().error(f"保存图像信息时出错: {str(e)}")
+
+def main(args=None):
+    rclpy.init(args=args)
+    simple_subscriber = SimpleImageSubscriber()
+    
+    print("启动简化的ROS图像订阅测试...")
+    print("正在监听话题: /rgb_camera/image_raw")
+    print("按 Ctrl+C 停止测试")
+    
+    try:
+        rclpy.spin(simple_subscriber)
+    except KeyboardInterrupt:
+        print("\n测试被用户中断")
+    finally:
+        print("测试完成，清理资源...")
+        simple_subscriber.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()