robonix.robot.deep_robotics.lynx_s10

robot v0.1.0

DeepRobotics Lynx S10 wheeled-quadruped deployment — native ROS 2 (drdds) chassis control.

5 issues found while indexing this entry

  • primitive realsense_camera: Uses host-specific absolute path '/home/dog/.local/share/robonix-console/deployments/default/packages/primitive-intel-d435i-manual-ae-camera-rbnx'; use a cataloged repository URL, ${ROBONIX_SOURCE_PATH}/... for a Robonix built-in, ${ROBONIX_DEPLOY_DIR}/... for the boot deployment, or a repository-relative path such as ./primitives/robot_description.
  • primitive piper_ctl: Uses host-specific absolute path '/home/dog/.local/share/robonix-console/deployments/default/packages/primitive-agilex-piper-arm-rbnx'; use a cataloged repository URL, ${ROBONIX_SOURCE_PATH}/... for a Robonix built-in, ${ROBONIX_DEPLOY_DIR}/... for the boot deployment, or a repository-relative path such as ./primitives/robot_description.
  • primitive piper_description: Uses host-specific absolute path '/home/dog/.local/share/robonix-console/deployments/default/packages/primitive-agilex-piper-description-rbnx'; use a cataloged repository URL, ${ROBONIX_SOURCE_PATH}/... for a Robonix built-in, ${ROBONIX_DEPLOY_DIR}/... for the boot deployment, or a repository-relative path such as ./primitives/robot_description.
  • skill s10_grasp_dev: Uses host-specific absolute path '/home/dog/.local/share/robonix-console/deployments/default/packages/skill-s10-grasp-dev-rbnx'; use a cataloged repository URL, ${ROBONIX_SOURCE_PATH}/... for a Robonix built-in, ${ROBONIX_DEPLOY_DIR}/... for the boot deployment, or a repository-relative path such as ./primitives/robot_description.
  • primitive lynx_quadruped: Resolved path 'primitives/primitive-lynx_quadruped' is a Git submodule in https://github.com/syswonder/robot-deep_robotics-lynx_s10@main, but GitHub did not provide a verifiable repository URL and pinned commit.
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README robot-deep_robotics-lynx_s10@main

DeepRobotics Lynx S10 for Robonix

山猫整机部署仓库：选择原语、服务和现场参数，由 Robonix 负责启动与退出。 定位、建图、导航算法保留在独立 service，设备协议保留在 primitive。

执行现场导航前先读 AGENTS.md，尤其是底盘导航模式的准备方法。

入口 用途
robonix_manifest.yaml、robonix_manifest.nx.yaml 原有雷达地图导航及设备组合，具体配置按机器选择
outdoor/ RTK＋WIT IMU、道路录制和室外导航，默认检查模式
primitives/primitive-lynx_chassis 受控速度、步态与实际状态接口，不自动改变姿态
primitives/primitive-lynx_lidar 受管雷达驱动和点云接口
primitives/primitive-lynx_camera 山猫相机原语，代码、测试和说明统一在本仓库维护
primitives/primitive-lynx_fastlio 原有雷达惯性定位接口
soma.yaml、urdf/ 本体描述
tools/camera_view 四路相机网页与电量显示，独立于导航启动

室外部署

进入 outdoor，按其 README 准备锁定版本依赖和现场配置，随后使用：

source scripts/environment.sh
rbnx build -f robonix_manifest.yaml
flock -n run/boot.lock rbnx boot -f robonix_manifest.yaml --no-update-check -v
# 在另一个相同环境的终端：
rbnx caps -v
rbnx shutdown -f robonix_manifest.yaml

真实运动需停止检查模式，再显式选择 robonix_manifest.field.yaml。 不再提供 ./outdoor Python CLI 或复制部署源码的安装方式。 地图、采集数据、日志和私密配置不纳入源码，不随重构删除。

原有整机配置

根目录 build.sh、start.sh、stop.sh 对应根目录的整机清单。 这些清单包含机器相关路径和外部设备包，使用前必须核对实际安装；当前源码中没有 primitives/primitive-lynx_quadruped，不能据清单存在就认定这套部署可以直接启动。 室外部署使用上述新的底盘原语，不依赖这个缺失包。

室内外先停止再切换，不同时占用底盘和雷达。室内采用 FAST-LIO 输出，室外采用 RTK＋IMU， 均不使用本体 /ODOM。本轮重构没有验收真实运动、动态定位精度或实际楼梯。