Programming and embedded systems
Hands-on C/C++, Python, Linux, STM32, ESP32, FreeRTOS, and driver development.
Personal site · knowledge and practice
Hello, I'm TungChiaHui.
This site brings together my technical writing, maintained wiki, and ongoing personal projects.
FOCUS AREAS
What this site covers
Engineering practice and reusable experience, not concepts alone.Robotics and automation
ROS1 / ROS2 motion control, navigation, mapping, sensor fusion, and environment perception.
GUI and tooling
Qt6 desktop and visual debugging tools that make robotics projects easier to build and maintain.
Web and content engineering
A maintainable content platform with better organization, site search, performance, and compatibility.
Mobile tooling
Control and monitoring tools for device integration, status visualization, and efficient workflows.
Study notes and retrospectives
Reusable records of pitfalls, design tradeoffs, and project reviews for future iteration.
Latest posts
View allRecently updated wiki
View allPolar Bear Navigation Reproduction Log
- ⌂Document overview
- 1Introduction
- 2环境配置与运行
- 3机器人模型与仿真
- 3.1robot_description（机器人模型与关节定义）
- 3.2MID360安装位置
- 3.3Launch与包依赖配置
- 3.4仿真视觉优化（可选）
- 3.5添加地图
- 4硬件对接与控制
- 4.1Linux与MCU数据对接
- 4.2Serial_Comm（串口通信）
- 4.3Joy（手柄控制）
- 4.4MID360与TF联调
- 5导航参数
- 5.1Point_LIO（激光与IMU融合里程计，建图与定位算法）
- 5.2loam_interface（Point-LIO输出的坐标与话题适配）
- 5.3sensor_scan_generation（雷达点云换系与底盘、云台位姿转换）
- 5.4terrain_analysis（近场地面与障碍高差分析）
- 5.5terrain_analysis_ext（扩展远场地形与近远场结果合并）
- 5.6fake_vel_transform（云台系速度转换与底盘自旋）
- 5.7small_gicp_relocalization（先验点云地图重定位）
- 5.8pointcloud_to_laserscan（三维地形点云转二维扫描）
- 5.9slam_toolbox（二维地图生成与轨迹优化）
- 5.10bt_navigator（行为树导航任务调度）
- 5.11controller_server（路径跟踪、进度检查与到达判定）
- 5.12local_costmap（局部障碍代价地图）
- 5.13global_costmap（全局规划代价地图）
- 5.14map_server（已有二维地图加载与发布）
- 5.15map_saver（二维栅格地图保存）
- 5.16planner_server（Theta*全局路径规划）
- 5.17smoother_server（全局路径平滑）
- 5.18behavior_server（恢复行为与空闲方向移动）
- 5.19waypoint_follower（逐点导航与到点等待）
- 5.20velocity_smoother（速度限幅与加减速平滑）
- 5.21pb_teleop_twist_joy_node（手柄输入与可替换控制入口）
- 6开发问题与排查
- 7rosbag2
- 8决策
- 9ros2control
- 10RM仿真