fix：新增例程

2025-07-25 17:54:28 +08:00
parent 78481c265e
commit 637343d716
108 changed files with 5755 additions and 0 deletions
--- a/基础智能/e9.雷达传感器数据获取实验/Config.json
+++ b/基础智能/e9.雷达传感器数据获取实验/Config.json
@@ -0,0 +1,21 @@
+{
+    "VisionSensors":[
+        {
+            "SeqID":0, //视觉传感器序号0 1 2 3 ...排序。如果填0，则自动递增排序。
+            "TypeID":20, //视觉传感器类型，1:RGB，2:深度，3:灰度，4:分割，5:测距，7:深度转点云，20-23:激光雷达，40-41:热力红外（收费版）
+            "TargetCopter":1, //传感器绑定的CopterID号，注:免费版只支持绑定1号飞机
+            "TargetMountType":0, //绑定方式，0:固定飞机几何中心， 1:固定飞机底部中心，2:固定地面上，3:弱固定飞机上姿态不随动，4:绑定其他视觉传感器上
+            "DataWidth":900, //图像像素长度
+            "DataHeight":32,//图像像素宽度
+            "DataCheckFreq":10,//图像检查更新频率，如果发现UE渲染更新了（取决于UE刷新帧率），会立刻发出数据。UE刷新率+DataCheckFreq检查频率，共同决定图像延迟。
+            "SendProtocol":[1,0,0,0,0,0,0,0],// SendProtocol[0]，表示传输协议，0：共享内存（仅限Windows下获取图像），1：UDP网络传输模式（图片使用jpeg压缩，点云直传），2：UDP直传图片不压缩，3：UDP直传图片png压缩。注：0-1适用所有传感器，2-3选项仅限图像类传感器。
+            //SendProtocol[1-4]位对应，IP地址位，表示请求返回的IP地址。默认都填0（或127.0.0.1），会自动请求UE返回图像到本电脑；SendProtocol[5]端口位，指定传感器图像回传端口，需要为每个传感器设置不同端口。默认填0，会自动使用9999+SeqID的递增端口号。
+            "CameraFOV":90, //视觉传感器的FOV视场角，和焦距呈现一定数值关系，能间接修改焦距。
+            "EularOrQuat":0, //使用欧拉角SensorAngEular还是四元数SensorAngQuat来设置视觉传感器姿态，默认使用0欧拉角。
+            "SensorPosXYZ":[0,0,-0.3], //视觉传感器的安装位置，和TargetMountType对应偏移中心，单位米
+            "SensorAngQuat":[0,0,0,0], // 视觉传感器的安装姿态，用四元数方式表示
+            "SensorAngEular":[0,0,0],// 视觉传感器的安装姿态，用欧拉角方式表示，单位角度制
+            "otherParams":[200,0.05,-45,45,-20,20,0,0,0,0,0,0,0,0,0,0] //其他参数
+        }
+    ]
+}
--- a/基础智能/e9.雷达传感器数据获取实验/Python38Run.bat
+++ b/基础智能/e9.雷达传感器数据获取实验/Python38Run.bat
@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"
--- a/基础智能/e9.雷达传感器数据获取实验/Readme.pdf
+++ b/基础智能/e9.雷达传感器数据获取实验/Readme.pdf
--- a/基础智能/e9.雷达传感器数据获取实验/WinWSL.bat
+++ b/基础智能/e9.雷达传感器数据获取实验/WinWSL.bat
@@ -0,0 +1,12 @@
+@echo off
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+cd /d %PSP_PATH%\VcXsrv
+tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
+
+cd /d %~dp0
+wsl -d RflySim-20.04 
+
--- a/基础智能/e9.雷达传感器数据获取实验/WslGUI.bat
+++ b/基础智能/e9.雷达传感器数据获取实验/WslGUI.bat
@@ -0,0 +1,21 @@
+@echo off
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+
+cd /d %PSP_PATH%\VcXsrv
+Xlaunch.exe -run config.xlaunch
+
+choice /t 1 /d y /n >nul
+
+cd /d %~dp0
+wsl -d RflySim-20.04 ~/StartUI.sh
+choice /t 1 /d y /n >nul
+tasklist|find /i "vcxsrv.exe" && taskkill /f /IM "vcxsrv.exe"
+wsl --shutdown
--- a/基础智能/e9.雷达传感器数据获取实验/client_ue4_SITL.bat
+++ b/基础智能/e9.雷达传感器数据获取实验/client_ue4_SITL.bat
@@ -0,0 +1,162 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., SimMode=2 equals to  SimMode=PX4_SITL_RFLY
+set SimMode=2
+
+REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
+REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
+REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
+set PX4SitlFrame=iris
+
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=NeighborhoodPark
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
+REM e.g., IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+:Top
+ECHO.
+ECHO ---------------------------------------
+REM Max vehicle number 50
+SET /a MAX_VEHICLE=50
+REM SET /P VehicleNum=Please input UAV swarm number:
+SET /A VehicleNum=1
+SET /A Evaluated=VehicleNum
+if %Evaluated% EQU %VehicleNum% (
+    IF %VehicleNum% GTR 0 (
+        IF %VehicleNum% GTR %MAX_VEHICLE% (
+            ECHO The vehicle number is too large, which may cause a crash
+            pause
+        )
+        GOTO StartSim
+    )
+    ECHO Not a positive integer
+    GOTO Top
+) ELSE (
+    ECHO Not a integer
+    GOTO Top
+)
+:StartSim
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\Rflysim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+
+set /a cntr=%START_INDEX%
+set /a endNum=%VehicleTotalNum%+1
+
+:loopBegin
+set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
+choice /t 1 /d y /n >nul
+set /a cntr=%cntr%+1
+
+if %cntr% EQU %endNum% goto loopEnd
+goto loopBegin
+:loopEnd
+
+REM Set ToolChainType 1:Win10WSL 3:Cygwin
+SET /a ToolChainType=1
+
+if "%IS_BROADCAST%" == "0" (
+    SET IS_BROADCAST=0
+) else (
+    SET IS_BROADCAST=1
+)
+
+SET WINDOWSPATH=%PATH%
+if %ToolChainType% EQU 1 (
+    wsl -d RflySim-20.04 echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; export PATH=$HOME/ninja:$HOME/gcc-arm-none-eabi-7-2017-q4-major/bin:$PATH;make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1
+) else (
+    REM CYGPath
+    cd /d %PSP_PATH%\CygwinToolchain
+    CALL setPX4Env.bat
+    bash -l -i -c 'echo Starting SITL SIMULATION; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; pwd; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1; pkill -x px4 || true;'
+)
+SET PATH=%WINDOWSPATH%
+
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.
--- a/基础智能/e9.雷达传感器数据获取实验/err.log
+++ b/基础智能/e9.雷达传感器数据获取实验/err.log
@@ -0,0 +1,106 @@
+gpg-agent[345]: WARNING: "--write-env-file" is an obsolete option - it has no effect
+gpg-agent[346]: gpg-agent (GnuPG) 2.2.19 started
+
+(xfce4-session:296): xfce4-session-WARNING **: 14:45:54.182: gpg-agent returned no PID in the variables
+
+(xfce4-session:296): xfce4-session-WARNING **: 14:45:54.185: xfsm_manager_load_session: Something wrong with /root/.cache/sessions/xfce4-session-localhost:0, Does it exist? Permissions issue?
+
+(xfwm4:347): xfwm4-WARNING **: 14:45:56.494: Unsupported GL renderer (llvmpipe (LLVM 12.0.0, 256 bits)).
+
+(xfsettingsd:385): libupower-glib-WARNING **: 14:45:56.733: Couldn't connect to proxy: Could not connect: No such file or directory
+
+(xfsettingsd:385): libupower-glib-CRITICAL **: 14:45:56.733: up_client_get_lid_is_closed: assertion 'UP_IS_CLIENT (client)' failed
+
+(xfsettingsd:385): GLib-GObject-WARNING **: 14:45:56.733: invalid (NULL) pointer instance
+
+(xfsettingsd:385): GLib-GObject-CRITICAL **: 14:45:56.733: g_signal_connect_data: assertion 'G_TYPE_CHECK_INSTANCE (instance)' failed
+
+(wrapper-2.0:406): GLib-GIO-CRITICAL **: 14:45:57.491: g_file_new_for_path: assertion 'path != NULL' failed
+
+(wrapper-2.0:406): GLib-GIO-CRITICAL **: 14:45:57.491: g_file_monitor_file: assertion 'G_IS_FILE (file)' failed
+
+(wrapper-2.0:406): GLib-GObject-WARNING **: 14:45:57.491: invalid (NULL) pointer instance
+
+(wrapper-2.0:406): GLib-GObject-CRITICAL **: 14:45:57.491: g_signal_connect_data: assertion 'G_TYPE_CHECK_INSTANCE (instance)' failed
+
+(wrapper-2.0:406): Gtk-WARNING **: 14:45:57.491: Attempting to add a widget with type GtkToggleButton to a container of type XfcePanelPlugin, but the widget is already inside a container of type XfcePanelPlugin, please remove the widget from its existing container first.
+
+(xfce4-session:296): xfce4-session-WARNING **: 14:45:57.506: failed to run script: Failed to execute child process “/usr/bin/pm-is-supported” (No such file or directory)
+
+(xfce4-session:296): xfce4-session-WARNING **: 14:45:57.516: failed to run script: Failed to execute child process “/usr/bin/pm-is-supported” (No such file or directory)
+
+(xfce4-session:296): xfce4-session-WARNING **: 14:45:57.525: failed to run script: Failed to execute child process “/usr/bin/pm-is-supported” (No such file or directory)
+
+(wrapper-2.0:407): Gtk-WARNING **: 14:45:57.577: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node button, owner XfceArrowButton)
+
+** (agent:423): CRITICAL **: 14:45:57.584: Failed to get connection to system bus: Could not connect: No such file or directory
+
+(wrapper-2.0:406): Gtk-WARNING **: 14:45:57.611: Negative content width -3 (allocation 1, extents 2x2) while allocating gadget (node button, owner GtkToggleButton)
+
+** (wrapper-2.0:405): WARNING **: 14:45:57.637: Binding 'XF86AudioMicMute' failed!
+
+(wrapper-2.0:405): pulseaudio-plugin-WARNING **: 14:45:57.638: Could not have grabbed volume control keys. Is another volume control application (xfce4-volumed) running?
+shared memfd open() failed: Function not implemented
+
+(wrapper-2.0:405): Gtk-WARNING **: 14:45:57.817: Negative content width -3 (allocation 1, extents 2x2) while allocating gadget (node button, owner PulseaudioButton)
+
+(nm-applet:442): nm-applet-WARNING **: 14:45:57.944: Error connecting to system D-Bus: Could not connect: No such file or directory
+
+(nm-applet:442): nm-applet-WARNING **: 14:45:57.945: Could not connect: No such file or directory
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.946: ((libnm/nm-client.c:3905)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:3859)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:3937)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:3986)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:4026)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:4042)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:4080)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.950: ((libnm/nm-client.c:4598)): assertion '<dropped>' failed
+
+(nm-applet:442): libnm-CRITICAL **: 14:45:57.951: ((libnm/nm-client.c:4598)): assertion '<dropped>' failed
+shared memfd open() failed: Function not implemented
+Connection failure: Connection refused
+pa_context_connect() failed: Connection refused
+
+** (xiccd:485): CRITICAL **: 14:45:58.141: Failed to connect to colord: Could not connect: No such file or directory
+
+(xfdesktop:400): GVFS-RemoteVolumeMonitor-WARNING **: 14:45:58.495: remote volume monitor with dbus name org.gtk.vfs.UDisks2VolumeMonitor is not supported
+
+** (xfdesktop:400): WARNING **: 14:45:58.676: Failed to get system bus: Could not connect: No such file or directory
+system-config-printer-applet: failed to connect to system D-Bus
+
+(xfce4-panel:386): xfce4-panel-CRITICAL **: 14:46:07.956: panel-window.c:2245 (panel_window_active_window_geometry_changed): expression 'WNCK_IS_WINDOW (active_window)' failed.
+
+(xfce4-panel:386): xfce4-panel-CRITICAL **: 14:46:34.605: panel-window.c:2245 (panel_window_active_window_geometry_changed): expression 'WNCK_IS_WINDOW (active_window)' failed.
+Gdk-Message: 14:58:12.289: xfce4-session: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+Gdk-Message: 14:58:12.290: xfwm4: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+xfsettingsd: Another instance took over. Leaving...
+
+(xfce4-panel:386): xfce4-panel-CRITICAL **: 14:58:12.291: Name org.xfce.Panel lost on the message dbus, exiting.
+
+(Thunar:394): thunar-WARNING **: 14:58:12.291: Name 'org.xfce.FileManager' lost on the message dbus.
+
+(Thunar:394): thunar-WARNING **: 14:58:12.292: Name 'org.freedesktop.FileManager1' lost on the message dbus.
+Gdk-Message: 14:58:12.298: xfsettingsd: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+Gdk-Message: 14:58:12.300: xfce4-panel: Fatal IO error 25 (Inappropriate ioctl for device) on X server :0.0.
+
+Gdk-Message: 14:58:12.300: xfdesktop: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+Gdk-Message: 14:58:12.302: wrapper-2.0: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+Gdk-Message: 14:58:12.301: wrapper-2.0: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+Gdk-Message: 14:58:12.302: wrapper-2.0: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
+Gdk-Message: 14:58:12.302: wrapper-2.0: Fatal IO error 11 (Resource temporarily unavailable) on X server :0.0.
+
--- a/基础智能/e9.雷达传感器数据获取实验/lidar.rviz
+++ b/基础智能/e9.雷达传感器数据获取实验/lidar.rviz
@@ -0,0 +1,185 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Axes1
+        - /PointCloud21/Status1
+      Splitter Ratio: 0.5
+    Tree Height: 546
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.4648884534835815
+        Min Value: -7.074190616607666
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Flat Squares
+      Topic: /lidar_points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 2
+      Name: Axes
+      Radius: 0.20000000298023224
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 12.140262603759766
+        Min Value: -14.380321502685547
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.20000000298023224
+      Style: Flat Squares
+      Topic: /rflysim/vehicle_0/lidar_0
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: rflysim_vehicle0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 111.6949691772461
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 25.732120513916016
+        Y: 8.539153099060059
+        Z: 0.2620249390602112
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2752034068107605
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.4104323387146
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 846
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002aefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003e000002ae000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002aefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002ae000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026200fffffffb0000000800540069006d00650100000000000004500000000000000000000004b0000002ae00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1200
+  X: 1063
+  Y: 195
--- a/基础智能/e9.雷达传感器数据获取实验/out.log
+++ b/基础智能/e9.雷达传感器数据获取实验/out.log
@@ -0,0 +1 @@
+/usr/bin/startxfce4: X server already running on display :0.0
--- a/基础智能/e9.雷达传感器数据获取实验/server_ue4.py
+++ b/基础智能/e9.雷达传感器数据获取实验/server_ue4.py
@@ -0,0 +1,106 @@
+
+# import required libraries
+# pip3 install pymavlink pyserial
+
+import cv2
+import numpy as np
+import time
+import VisionCaptureApi
+import PX4MavCtrlV4 as PX4MavCtrl
+import math
+# import matplotlib.pyplot as plt
+import ReqCopterSim
+import Open3DShow
+
+show3d=Open3DShow.Open3DShow()
+
+
+vis = VisionCaptureApi.VisionCaptureApi()
+
+# VisionCaptureApi 中的配置函数
+vis.jsonLoad()
+isSuss = vis.sendReqToUE4()
+
+vis.startImgCap()  # 开启取图循环，执行本语句之后，已经可以通过vis.Img[i]读取到图片了
+print('Start Image Reciver')
+
+# vis.sendImuReqCopterSim(1,'127.0.0.1') # 发送请求，从目标飞机CopterSim读取IMU数据,回传地址为127.0.0.1，默认频率为200Hz
+# 执行本语句之后，会自动开启数据监听，已经可以通过vis.imu读取到IMU数据了。
+
+
+mav = PX4MavCtrl.PX4MavCtrler(1)
+
+
+time.sleep(2)
+# Start MAV loop with UDP mode: MAVLINK_FULL
+mav.InitMavLoop()
+mav.InitTrueDataLoop()
+
+# Enter Offboard mode to start vehicle control
+time.sleep(2)
+mav.initOffboard()
+
+# Get the takeoff position of each vehicle to the UE4 Map
+# this can be adopted to obtain the global position of a vehicle in swarm simulation
+time.sleep(2)
+Error2UE4Map = []
+
+Error2UE4Map = -np.array([mav.uavGlobalPos[0]-mav.uavPosNED[0],
+                                        mav.uavGlobalPos[1]-mav.uavPosNED[1], mav.uavGlobalPos[2]-mav.uavPosNED[2]])
+
+# fly to 10m high above its takeoff position
+mav.SendPosNED(0, 0, -8, 0)
+mav.SendCopterSpeed(3)
+#time.sleep(10)
+
+
+#创建点云显示窗口
+show3d.CreatShow(0)
+
+
+lastTime = time.time()
+startTime = time.time()
+timeInterval = 1/30.0  # here is 0.0333s (30Hz)
+while True:
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime)  # sleep until the desired clock
+    else:
+        lastTime = time.time()
+    # The following code will be executed 30Hz (0.0333s)
+
+    t = time.time()-startTime
+
+
+    # target position in UE4 map global frame
+    if t < 10:
+        # fly to 15 meters high in 0 to 10s
+        targetPosE = np.array([-0, 0, -5])
+    elif t<20:  # fly circle after 10s
+        targetPosE = np.array(
+            [15,5, -5])
+    else:
+        targetPosE = np.array([15,-10, -5])
+        
+    # target position in vehilce takeoff frame
+    targetPosE = targetPosE+Error2UE4Map
+    mav.SendPosNED(targetPosE[0], targetPosE[1], targetPosE[2], 0)
+
+    if vis.hasData[0]:
+        
+        # 更新点云
+        show3d.UpdateShow(vis.Img[0])
+        
+        # 标记
+        vis.hasData[0]=False
+        
+    #isShowCloud = False
+    if t > 200:  # end simulation when 200s
+        break
+
+
+mav.endOffboard()
+
+time.sleep(1)
+mav.stopRun()
--- a/基础智能/e9.雷达传感器数据获取实验/名称-UDP直传点云数据入门实验.txt
+++ b/基础智能/e9.雷达传感器数据获取实验/名称-UDP直传点云数据入门实验.txt
				`@@ -0,0 +1 @@`
				`/usr/bin/startxfce4: X server already running on display :0.0`