add local planner

chassis/ranger_dora_node/=0.17

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+Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple
+Collecting python-xlib
+  Using cached https://pypi.tuna.tsinghua.edu.cn/packages/fc/b8/ff33610932e0ee81ae7f1269c890f697d56ff74b9f5b2ee5d9b7fa2c5355/python_xlib-0.33-py2.py3-none-any.whl (182 kB)
+Requirement already satisfied: six>=1.10.0 in /home/mickrobot/anaconda3/envs/dora/lib/python3.12/site-packages (from python-xlib) (1.17.0)
+Installing collected packages: python-xlib
+Successfully installed python-xlib-0.33

chassis/ranger_dora_node/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(ranger_dora_node)
+
+# set compiler
+set(CMAKE_CXX_COMPILER "/usr/bin/clang++")
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+# Set C++ standard
+set(CMAKE_CXX_FLAGS "-std=c++14 -pthread -Wall -Wextra")
+set(CMAKE_CXX_FLAGS_DEBUG "-g")
+# NOTE: CHOOSE THE O2/O3 is really important for speed! check more on optimization on compile
+set(CMAKE_CXX_FLAGS_RELEASE "-O2")
+
+# Find required packages
+find_package(Threads REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+# Include directories
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/ugv_sdk/include
+    $ENV{HOME}/dora/apis/c/node/ #dora的头文件路径 node_api.h
+    $ENV{HOME}/dora/apis/c/operator/
+    ./include
+    /usr/local/include
+)
+
+# Link directories
+# link_directories(
+#     /usr/local/lib
+#     ${CMAKE_CURRENT_SOURCE_DIR}/ugv_sdk/build/lib
+# )
+
+# Source files
+set(SOURCES
+    src/ranger_base_node.cpp
+    src/ranger_messenger.cpp
+)
+
+# Create executable
+add_executable(ranger_miniv3_node ${SOURCES})
+
+# Link libraries
+target_link_libraries(ranger_miniv3_node
+    Threads::Threads
+    #ugv_sdk
+    yaml-cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/ugv_sdk/build/lib/libugv_sdk.a
+    $ENV{HOME}/dora/target/release/libdora_node_api_c.a
+    m
+    rt
+    dl
+    pthread
+)
+
+# Install target
+#install(TARGETS ranger_miniv3_node
+#    RUNTIME DESTINATION bin
+#)

chassis/ranger_dora_node/README.md

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+# Ranger Mini V3 DORA Node
+
+Ranger Mini V3 DORA节点实现，基于Ranger Mini V3 ROS2节点代码修改，用于控制AgileX Ranger Mini V3机器人。
+
+## 1 功能特性
+
+-  支持Ranger Mini V3机器人
+-  通过CAN总线与ugv_sdk通信
+-  支持4种运动模式：
+  - 双阿克曼转向 (Dual Ackerman)
+  - 平行模式 (Parallel/Omnidirectional)
+  - 原地旋转 (Spinning)
+  - 侧滑模式 (Side Slip - 仅V1支持)
+-  实时里程计计算
+-  完整的状态反馈（系统状态、执行器状态、电池状态）
+-  JSON格式数据传输
+-  100Hz高频率更新
+
+### 1.1 输入输出接口
+
+#### 输入
+- **CmdVelTwist**: 速度命令 (JSON格式)
+  ```json
+  {
+    "linear": {"x": 0.5, "y": 0.0, "z": 0.0},
+    "angular": {"x": 0.0, "y": 0.0, "z": 0.2}
+  }
+  ```
+
+
+#### 输出
+- **Odometry**: 里程计数据（位置、姿态、速度）
+- **SystemState**: 系统状态（车辆状态、控制模式、错误码、电池电压、运动模式）
+- **MotionState**: 当前运动模式
+- **ActuatorState**: 8个执行器的详细状态
+- **BatteryState**: BMS电池信息（电压、电流、温度、电量百分比）
+
+### 1.2 依赖项
+
+- CMake >= 3.10
+- C++17编译器
+- ugv_sdk (AgileX SDK)
+- DORA runtime
+- nlohmann/json (JSON库)
+- Linux系统
+- CAN总线接口（can0或can1）
+- 已配置的CAN驱动
+
+##  2 节点启动 
+
+### 2.1 步骤1: 检查依赖
+
+```bash
+# 检查ugv_sdk
+ls ../ugv_sdk/lib/libugv_sdk.so
+```
+
+### 2.2 步骤2: 编译
+
+```bash
+cd ranger_dora_node
+./build.sh
+```
+
+如果编译成功，会看到：
+```
+=========================================
+Build successful!
+Executable: build/ranger_miniv3_node
+=========================================
+```
+
+### 2.3 步骤3: 配置CAN总线
+
+```bash
+# 检查CAN接口状态
+ip link show can0
+
+# 检查权限
+sudo chmod 666 /dev/can0  # 或添加用户到dialout组
+
+# 设置CAN总线波特率为500kbps
+sudo ip link set can0 type can bitrate 500000
+
+ # 启动CAN接口
+sudo ip link set can0 up
+
+# 验证CAN接口
+ip -details link show can0
+```
+
+### 2.4 步骤4: 运行节点
+
+```bash
+# 启动DORA
+dora up
+
+# 运行dataflow
+dora start ranger_miniv3_dataflow.yml
+```
+
+### 2.5 步骤5: 测试
+
+在另一个终端：
+```bash
+# 查看日志
+dora logs ranger_miniv3_node
+
+# 或使用键盘控制（如果配置了keyboard节点）
+# 按w/s/a/d控制机器人
+```
+
+###  2.6 参数配置
+
+在dataflow.yml中配置以下环境变量：
+
+- `CAN_PORT`: CAN接口名称（默认: can0）
+- `UPDATE_RATE`: 状态更新频率（默认: 100 Hz）
+
+
+## 3 运动模式说明
+
+节点会根据输入的速度命令自动切换运动模式：
+
+1. **双阿克曼模式** (Dual Ackerman)
+   - 条件: linear.y = 0 且转弯半径 >= min_turn_radius
+   - 行为: 类似汽车的转向方式
+
+2. **平行模式** (Parallel)
+   - 条件: linear.y ≠ 0
+   - 行为: 全向移动，可以斜向行驶
+
+3. **原地旋转模式** (Spinning)
+   - 条件: linear.y = 0 且转弯半径 < min_turn_radius
+   - 行为: 原地旋转
+
+## 机器人参数 (Ranger Mini V3)
+
+```cpp
+track = 0.58 m          // 轮距
+wheelbase = 0.648 m     // 轴距
+max_linear_speed = 1.5 m/s
+max_angular_speed = 0.5236 rad/s (30°/s)
+max_steer_angle_central = 0.5585 rad (32°)
+max_steer_angle_parallel = 0.75 rad (43°)
+min_turn_radius = 1.0 m
+```
+
+## 4 故障排除
+
+### 4.1 CAN总线连接失败
+```
+Failed to connect to CAN port: can0
+```
+解决方案：
+1. 检查CAN接口是否已启动: `ip link show can0`
+2. 检查波特率设置是否正确（500kbps）
+3. 检查硬件连接
+
+### 4.2 权限问题
+```
+CAN bus Permission denied
+```
+解决方案：
+```bash
+ 添加用户到dialout组
+sudo usermod -a -G dialout $USER
+
+ 或使用sudo运行
+sudo dora start ranger_miniv3_dataflow.yml
+```
+
+
+
+## 5   通讯格式说明
+
+### 5.1 Odometry（publish）
+
+```
+    j["header"]["frame_id"] = msg.header.frame_id;
+    j["header"]["seq"] = msg.header.seq;
+    j["header"]["stamp"]["sec"] = msg.header.stamp.sec;
+    j["header"]["stamp"]["nanosec"] = msg.header.stamp.nanosec;
+
+    j["child_frame_id"] = msg.child_frame_id;
+
+    j["pose"]["pose"]["position"]["x"] = msg.pose.pose.position.x;
+    j["pose"]["pose"]["position"]["y"] = msg.pose.pose.position.y;
+    j["pose"]["pose"]["position"]["z"] = msg.pose.pose.position.z;
+
+    j["pose"]["pose"]["orientation"]["x"] = msg.pose.pose.orientation.x;
+    j["pose"]["pose"]["orientation"]["y"] = msg.pose.pose.orientation.y;
+    j["pose"]["pose"]["orientation"]["z"] = msg.pose.pose.orientation.z;
+    j["pose"]["pose"]["orientation"]["w"] = msg.pose.pose.orientation.w;
+
+    j["twist"]["twist"]["linear"]["x"] = msg.twist.twist.linear.x;
+    j["twist"]["twist"]["linear"]["y"] = msg.twist.twist.linear.y;
+    j["twist"]["twist"]["linear"]["z"] = msg.twist.twist.linear.z;
+
+    j["twist"]["twist"]["angular"]["x"] = msg.twist.twist.angular.x;
+    j["twist"]["twist"]["angular"]["y"] = msg.twist.twist.angular.y;
+    j["twist"]["twist"]["angular"]["z"] = msg.twist.twist.angular.z;
+```
+
+
+
+### 5.2 SystemState（publish）
+
+```
+    j["header"]["stamp"]["sec"] = msg.header.stamp.sec;
+    j["header"]["stamp"]["nanosec"] = msg.header.stamp.nanosec;
+
+    j["vehicle_state"] = msg.vehicle_state;
+    j["control_mode"] = msg.control_mode;
+    j["error_code"] = msg.error_code;
+    j["battery_voltage"] = msg.battery_voltage;
+    j["motion_mode"] = msg.motion_mode;
+```
+
+
+
+### 5.3 MotionState（publish）
+
+```
+    json j;
+    j["header"]["stamp"]["sec"] = msg.header.stamp.sec;
+    j["header"]["stamp"]["nanosec"] = msg.header.stamp.nanosec;
+    j["motion_mode"] = msg.motion_mode;
+```
+
+
+
+### 5.4 ActuatorState（publish）
+
+```
+    j["header"]["stamp"]["sec"] = msg.header.stamp.sec;
+    j["header"]["stamp"]["nanosec"] = msg.header.stamp.nanosec;
+
+    json states = json::array();
+    for (const auto &actuator : msg.states)
+    {
+      json act;
+      act["id"] = actuator.id;
+
+      act["driver"]["driver_voltage"] = actuator.driver.driver_voltage;
+      act["driver"]["driver_temperature"] = actuator.driver.driver_temperature;
+      act["driver"]["motor_temperature"] = actuator.driver.motor_temperature;
+      act["driver"]["driver_state"] = actuator.driver.driver_state;
+
+      act["motor"]["current"] = actuator.motor.current;
+      act["motor"]["pulse_count"] = actuator.motor.pulse_count;
+      act["motor"]["rpm"] = actuator.motor.rpm;
+      act["motor"]["motor_angle"] = actuator.motor.motor_angles;
+      act["motor"]["motor_speed"] = actuator.motor.motor_speeds;
+      states.push_back(act);
+    }
+
+    j["states"] = states;
+```
+
+### 5.5 BatteryState（publish）
+
+```
+    j["header"]["stamp"]["sec"] = msg.header.stamp.sec;
+    j["header"]["stamp"]["nanosec"] = msg.header.stamp.nanosec;
+
+    j["voltage"] = msg.voltage;
+    j["temperature"] = msg.temperature;
+    j["current"] = msg.current;
+    j["percentage"] = msg.percentage;
+```
+

chassis/ranger_dora_node/build.sh

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+#!/bin/bash
+
+# Build script for Ranger DORA Node
+
+echo "========================================="
+echo "Building Ranger Mini V3 DORA Node"
+echo "========================================="
+
+# Create build directory
+mkdir -p build
+cd build
+
+# Run CMake
+echo "Running CMake..."
+cmake ..
+
+# Build
+echo "Building..."
+make -j$(nproc)
+
+# Check if build was successful
+if [ $? -eq 0 ]; then
+    echo "========================================="
+    echo "Build successful!"
+    echo "Executable: build/ranger_miniv3_node"
+    echo "========================================="
+else
+    echo "========================================="
+    echo "Build failed!"
+    echo "========================================="
+    exit 1
+fi

chassis/ranger_dora_node/config/ranger_config.yaml

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+# Ranger DORA Node Configuration File
+
+# CAN interface configuration
+can_port: "can0"
+
+# Robot model selection
+# Options: "ranger", "ranger_mini_v1", "ranger_mini_v2", "ranger_mini_v3"
+robot_model: "ranger_mini_v3"
+
+# Frame IDs
+odom_frame: "odom"
+base_frame: "base_link"
+
+# Update rate in Hz
+update_rate: 100
+
+# Odometry topic name
+odom_topic_name: "odom"
+
+# TF publishing (not supported in DORA, kept for compatibility)
+publish_odom_tf: false