将src目录作为普通文件而非子模块添加

2025-09-11 15:44:41 +08:00
parent 690eef76fe
commit 52ae8d29c8
14 changed files with 1349 additions and 1 deletions
--- a/1
+++ b/1
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
--- a/src/README.md
+++ b/src/README.md
@@ -0,0 +1,146 @@
+# TR360 ROS 包
+
+基于ROS Noetic的TR360雷达点云处理包，支持TR360-3-60避障雷达和TR360-4-60地形雷达。
+
+## 功能特性
+
+- ✅ UDP数据接收和解析
+- ✅ 点云数据转换（极坐标→直角坐标）
+- ✅ PointCloud2话题发布
+- ✅ RViz可视化支持
+- ✅ 动态参数配置
+- ✅ 多雷达类型支持
+- ✅ 网络参数可配置
+- ✅ 测试数据模拟
+
+## 系统要求
+
+- Ubuntu 20.04
+- ROS Noetic
+- PCL 1.10
+
+## 安装和编译
+
+### 自动编译
+```bash
+cd tr360_ros
+./build.sh
+```
+
+### 手动编译
+```bash
+# 设置ROS环境
+source /opt/ros/noetic/setup.bash
+
+# 创建工作空间（如果不存在）
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin_make
+
+# 复制包到工作空间
+cp -r /path/to/tr360_ros ~/catkin_ws/src/
+
+# 编译
+cd ~/catkin_ws
+catkin_make
+
+# 设置环境
+source devel/setup.bash
+```
+
+## 使用方法
+
+### 1. 启动主节点（需要真实雷达）
+```bash
+roslaunch tr360_ros tr360.launch
+```
+
+### 2. 启动测试节点（无雷达时使用）
+```bash
+rosrun tr360_ros test_publisher
+```
+
+### 3. 可视化
+```bash
+rviz -d $(rospack find tr360_ros)/config/tr360.rviz
+```
+
+## 参数配置
+
+### 启动参数
+在`launch/tr360.launch`中配置：
+- `radar_type`: 雷达类型 (`TR360-3-60`/`TR360-4-60`)
+- `radar_ip`: 雷达设备IP
+- `radar_port`: 雷达端口 (默认: 10123)
+- `local_ip`: 本地接收IP
+- `local_port`: 本地端口 (默认: 10193/20193)
+
+### 动态参数
+运行时可通过`rqt_reconfigure`调整：
+- 距离范围限制
+- 角度范围限制
+- 强度范围限制
+- 坐标显示范围
+- 发布频率
+
+## 网络配置
+
+### TR360-3-60 (避障雷达)
+- 雷达IP: `192.168.1.80`
+- 雷达端口: `10123`
+- 本地IP: `192.168.1.193`
+- 本地端口: `10193`
+
+### TR360-4-60 (地形雷达)
+- 雷达IP: `192.168.0.80`
+- 雷达端口: `10123`
+- 本地IP: `192.168.0.193`
+- 本地端口: `20193`
+
+## 数据结构
+
+### 点云格式
+每个点包含：
+- 方位角 (9 bits)
+- 距离 (12 bits)
+- 俯仰角 (11 bits)
+- RCS值 (8 bits)
+
+### 坐标转换
+极坐标 → 直角坐标：
+```
+{x, y, z, v} = {r*cos(e)*cos(a), r*cos(e)*sin(a), r*sin(e), v}
+```
+
+## 话题
+
+### 多雷达支持
+支持同时处理多个TR360雷达数据，根据雷达类型和数量自动生成话题名称：
+
+#### TR360-3-60 双雷达配置 (max_radars=2)
+- `/TR360-3-30-up` (`sensor_msgs/PointCloud2`) - 上方雷达点云数据
+- `/TR360-3-60-front` (`sensor_msgs/PointCloud2`) - 前方雷达点云数据
+
+#### TR360-3-60 单雷达配置 (max_radars=1)  
+- `/TR360-4-60-terrain` (`sensor_msgs/PointCloud2`) - 地形雷达点云数据
+
+#### 默认配置
+- `/tr360_points_1` (`sensor_msgs/PointCloud2`) - 雷达1的点云数据
+- `/tr360_points_2` (`sensor_msgs/PointCloud2`) - 雷达2的点云数据
+- `/tr360_points_3` (`sensor_msgs/PointCloud2`) - 雷达3的点云数据
+- `/tr360_points_4` (`sensor_msgs/PointCloud2`) - 雷达4的点云数据
+
+### 坐标系
+每个雷达使用独立的坐标系：
+- `tr360_radar_1` - 雷达1坐标系
+- `tr360_radar_2` - 雷达2坐标系
+- `tr360_radar_3` - 雷达3坐标系  
+- `tr360_radar_4` - 雷达4坐标系
+
+## 版本控制
+
+使用Git进行版本管理，采用分步测试开发模式。
+
+## 许可证
+
+BSD 3-Clause License
--- a/src/build.sh
+++ b/src/build.sh
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# TR360 ROS包编译脚本
+echo "正在编译TR360 ROS包..."
+
+# 设置ROS环境
+source /opt/ros/noetic/setup.bash
+
+# 创建编译目录
+BUILD_DIR="$HOME/catkin_ws"
+if [ ! -d "$BUILD_DIR" ]; then
+    echo "创建catkin工作空间..."
+    mkdir -p "$BUILD_DIR/src"
+    cd "$BUILD_DIR"
+    catkin_make
+fi
+
+# 复制包到工作空间
+PACKAGE_DIR="$BUILD_DIR/src/tr360_ros"
+if [ -d "$PACKAGE_DIR" ]; then
+    echo "删除旧版包..."
+    rm -rf "$PACKAGE_DIR"
+fi
+
+echo "复制包到工作空间..."
+cp -r "$(dirname "$0")" "$BUILD_DIR/src/"
+
+# 编译包
+cd "$BUILD_DIR"
+echo "开始编译..."
+catkin_make
+
+# 设置环境变量
+echo "source $BUILD_DIR/devel/setup.bash" >> ~/.bashrc
+source "$BUILD_DIR/devel/setup.bash"
+
+echo "编译完成！"
+echo "使用方法："
+echo "1. 启动主节点: roslaunch tr360_ros tr360.launch"
+echo "2. 启动测试节点: rosrun tr360_ros test_publisher"
+echo "3. 可视化: rviz -d $(rospack find tr360_ros)/config/tr360.rviz"
--- a/src/tr360_ros/CMakeLists.txt
+++ b/src/tr360_ros/CMakeLists.txt
@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(tr360_ros)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  sensor_msgs
+  pcl_ros
+  pcl_conversions
+  dynamic_reconfigure
+)
+
+# 添加动态参数配置生成
+find_package(catkin REQUIRED)
+generate_dynamic_reconfigure_options(
+  cfg/TR360Config.cfg
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES tr360_ros
+  CATKIN_DEPENDS roscpp sensor_msgs pcl_ros pcl_conversions
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+
+add_executable(tr360_node src/tr360_node.cpp)
+target_link_libraries(tr360_node
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+# 添加网络库链接
+target_link_libraries(tr360_node ${Boost_LIBRARIES})
+
+# 测试发布器
+add_executable(test_publisher src/test_publisher.cpp)
+target_link_libraries(test_publisher
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+install(TARGETS test_publisher
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(TARGETS tr360_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)
--- a/src/tr360_ros/README.md
+++ b/src/tr360_ros/README.md
@@ -0,0 +1,146 @@
+# TR360 ROS 包
+
+基于ROS Noetic的TR360雷达点云处理包，支持TR360-3-60避障雷达和TR360-4-60地形雷达。
+
+## 功能特性
+
+- ✅ UDP数据接收和解析
+- ✅ 点云数据转换（极坐标→直角坐标）
+- ✅ PointCloud2话题发布
+- ✅ RViz可视化支持
+- ✅ 动态参数配置
+- ✅ 多雷达类型支持
+- ✅ 网络参数可配置
+- ✅ 测试数据模拟
+
+## 系统要求
+
+- Ubuntu 20.04
+- ROS Noetic
+- PCL 1.10
+
+## 安装和编译
+
+### 自动编译
+```bash
+cd tr360_ros
+./build.sh
+```
+
+### 手动编译
+```bash
+# 设置ROS环境
+source /opt/ros/noetic/setup.bash
+
+# 创建工作空间（如果不存在）
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin_make
+
+# 复制包到工作空间
+cp -r /path/to/tr360_ros ~/catkin_ws/src/
+
+# 编译
+cd ~/catkin_ws
+catkin_make
+
+# 设置环境
+source devel/setup.bash
+```
+
+## 使用方法
+
+### 1. 启动主节点（需要真实雷达）
+```bash
+roslaunch tr360_ros tr360.launch
+```
+
+### 2. 启动测试节点（无雷达时使用）
+```bash
+rosrun tr360_ros test_publisher
+```
+
+### 3. 可视化
+```bash
+rviz -d $(rospack find tr360_ros)/config/tr360.rviz
+```
+
+## 参数配置
+
+### 启动参数
+在`launch/tr360.launch`中配置：
+- `radar_type`: 雷达类型 (`TR360-3-60`/`TR360-4-60`)
+- `radar_ip`: 雷达设备IP
+- `radar_port`: 雷达端口 (默认: 10123)
+- `local_ip`: 本地接收IP
+- `local_port`: 本地端口 (默认: 10193/20193)
+
+### 动态参数
+运行时可通过`rqt_reconfigure`调整：
+- 距离范围限制
+- 角度范围限制
+- 强度范围限制
+- 坐标显示范围
+- 发布频率
+
+## 网络配置
+
+### TR360-3-60 (避障雷达)
+- 雷达IP: `192.168.1.80`
+- 雷达端口: `10123`
+- 本地IP: `192.168.1.193`
+- 本地端口: `10193`
+
+### TR360-4-60 (地形雷达)
+- 雷达IP: `192.168.0.80`
+- 雷达端口: `10123`
+- 本地IP: `192.168.0.193`
+- 本地端口: `20193`
+
+## 数据结构
+
+### 点云格式
+每个点包含：
+- 方位角 (9 bits)
+- 距离 (12 bits)
+- 俯仰角 (11 bits)
+- RCS值 (8 bits)
+
+### 坐标转换
+极坐标 → 直角坐标：
+```
+{x, y, z, v} = {r*cos(e)*cos(a), r*cos(e)*sin(a), r*sin(e), v}
+```
+
+## 话题
+
+### 多雷达支持
+支持同时处理多个TR360雷达数据，根据雷达类型和数量自动生成话题名称：
+
+#### TR360-3-60 双雷达配置 (max_radars=2)
+- `/TR360-3-30-up` (`sensor_msgs/PointCloud2`) - 上方雷达点云数据
+- `/TR360-3-60-front` (`sensor_msgs/PointCloud2`) - 前方雷达点云数据
+
+#### TR360-3-60 单雷达配置 (max_radars=1)  
+- `/TR360-4-60-terrain` (`sensor_msgs/PointCloud2`) - 地形雷达点云数据
+
+#### 默认配置
+- `/tr360_points_1` (`sensor_msgs/PointCloud2`) - 雷达1的点云数据
+- `/tr360_points_2` (`sensor_msgs/PointCloud2`) - 雷达2的点云数据
+- `/tr360_points_3` (`sensor_msgs/PointCloud2`) - 雷达3的点云数据
+- `/tr360_points_4` (`sensor_msgs/PointCloud2`) - 雷达4的点云数据
+
+### 坐标系
+每个雷达使用独立的坐标系：
+- `tr360_radar_1` - 雷达1坐标系
+- `tr360_radar_2` - 雷达2坐标系
+- `tr360_radar_3` - 雷达3坐标系  
+- `tr360_radar_4` - 雷达4坐标系
+
+## 版本控制
+
+使用Git进行版本管理，采用分步测试开发模式。
+
+## 许可证
+
+BSD 3-Clause License
--- a/src/tr360_ros/build.sh
+++ b/src/tr360_ros/build.sh
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# TR360 ROS包编译脚本
+echo "正在编译TR360 ROS包..."
+
+# 设置ROS环境
+source /opt/ros/noetic/setup.bash
+
+# 创建编译目录
+BUILD_DIR="$HOME/catkin_ws"
+if [ ! -d "$BUILD_DIR" ]; then
+    echo "创建catkin工作空间..."
+    mkdir -p "$BUILD_DIR/src"
+    cd "$BUILD_DIR"
+    catkin_make
+fi
+
+# 复制包到工作空间
+PACKAGE_DIR="$BUILD_DIR/src/tr360_ros"
+if [ -d "$PACKAGE_DIR" ]; then
+    echo "删除旧版包..."
+    rm -rf "$PACKAGE_DIR"
+fi
+
+echo "复制包到工作空间..."
+cp -r "$(dirname "$0")" "$BUILD_DIR/src/"
+
+# 编译包
+cd "$BUILD_DIR"
+echo "开始编译..."
+catkin_make
+
+# 设置环境变量
+echo "source $BUILD_DIR/devel/setup.bash" >> ~/.bashrc
+source "$BUILD_DIR/devel/setup.bash"
+
+echo "编译完成！"
+echo "使用方法："
+echo "1. 启动主节点: roslaunch tr360_ros tr360.launch"
+echo "2. 启动测试节点: rosrun tr360_ros test_publisher"
+echo "3. 可视化: rviz -d $(rospack find tr360_ros)/config/tr360.rviz"
--- a/src/tr360_ros/cfg/TR360Config.cfg
+++ b/src/tr360_ros/cfg/TR360Config.cfg
@@ -0,0 +1,47 @@
+#!/usr/bin/env python
+
+PACKAGE = "tr360_ros"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+# 距离参数
+gen = ParameterGenerator()
+
+# 距离限制参数
+gen.add("r_lo", double_t, 0, "距离下限(m)", 0.0, 0.0, 100.0)
+gen.add("r_hi", double_t, 0, "距离上限(m)", 100.0, 0.0, 100.0)
+
+# 方位角参数
+gen.add("az_lo", double_t, 0, "方位角下限(度)", -180.0, -180.0, 180.0)
+gen.add("az_hi", double_t, 0, "方位角上限(度)", 180.0, -180.0, 180.0)
+
+# 俯仰角参数
+gen.add("el_lo", double_t, 0, "俯仰角下限(度)", -90.0, -90.0, 90.0)
+gen.add("el_hi", double_t, 0, "俯仰角上限(度)", 90.0, -90.0, 90.0)
+
+# 强度参数
+gen.add("intensity_lo", double_t, 0, "强度下限", 0.0, 0.0, 100.0)
+gen.add("intensity_hi", double_t, 0, "强度上限", 100.0, 0.0, 100.0)
+
+# 坐标显示范围
+gen.add("x_lo", double_t, 0, "X轴显示下限(m)", -50.0, -100.0, 100.0)
+gen.add("x_hi", double_t, 0, "X轴显示上限(m)", 50.0, -100.0, 100.0)
+gen.add("y_lo", double_t, 0, "Y轴显示下限(m)", -50.0, -100.0, 100.0)
+gen.add("y_hi", double_t, 0, "Y轴显示上限(m)", 50.0, -100.0, 100.0)
+gen.add("z_lo", double_t, 0, "Z轴显示下限(m)", -50.0, -100.0, 100.0)
+gen.add("z_hi", double_t, 0, "Z轴显示上限(m)", 50.0, -100.0, 100.0)
+
+# 雷达类型选择
+gen.add("radar_type", str_t, 0, "雷达类型", "TR360-3-60", edit_method={"enum_description": ["TR360-3-60: 避障雷达", "TR360-4-60: 地形雷达"]})
+
+# 网络配置
+gen.add("radar_ip", str_t, 0, "雷达IP地址", "192.168.1.80")
+gen.add("radar_port", int_t, 0, "雷达端口", 10123, 1024, 65535)
+gen.add("local_ip", str_t, 0, "本地IP地址", "192.168.1.193")
+gen.add("local_port", int_t, 0, "本地端口", 10193, 1024, 65535)
+
+# 点云处理参数
+gen.add("max_points", int_t, 0, "最大点数", 20000, 1000, 100000)
+gen.add("publish_rate", double_t, 0, "发布频率(Hz)", 10.0, 1.0, 100.0)
+
+exit(gen.generate(PACKAGE, "tr360_ros", "TR360Config"))
--- a/src/tr360_ros/config/tr360.rviz
+++ b/src/tr360_ros/config/tr360.rviz
@@ -0,0 +1,177 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 323
+  - 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:极 rviz/Views
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+  # 雷达1点云显示
+  - Alpha: 0.5
+    Class: rviz/PointCloud2
+    Color: 1 0 0
+    Color Transformer: Intensity
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255
+    Min Color: 0
+    Name: TR360 Radar 1
+    Position Transformer: XYZ
+    Selectable: true
+    Size (Pixels): 3
+    Style: Points
+    Topic: /tr360_points_1
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  # 雷达2点云显示
+  - Alpha: 0.5
+    Class极: rviz/PointCloud2
+    Color: 0 1 0
+    Color Transformer: Intensity
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255
+    Min Color: 0
+    Name: TR360 Radar 2
+    Position Transformer: XYZ
+    Selectable: true
+    Size (Pixels): 3
+    Style: Points
+    Topic: /tr360_points_2
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  # 雷达3点云显示
+  - Alpha: 0.5
+    Class: rviz/PointCloud2
+    Color: 0 0 1
+    Color Transformer: Intensity
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255
+    Min Color: 0
+    Name: TR360 Radar 3
+    Position Transformer: XYZ
+    Selectable: true
+    Size (Pixels): 3
+    Style: Points
+    Topic: /tr360_points_3
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  # 雷达4点云显示
+  - Alpha: 0.5
+    Class: rviz/PointCloud2
+    Color: 1 1 0
+    Color Transformer: Intensity
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255
+    Min Color: 0
+    Name: TR360 Radar 4
+    Position Transformer: XYZ
+    Selectable: true
+    Size (Pixels): 3
+    Style: Points
+    Topic: /tr360_points_4
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  - Class: rviz/Grid
+    Cell Size: 1
+    Color: 0.9411764740943909 0.9411764740943909 0.9411764740943909
+    Enabled: true
+    Line Style: Lines
+    Line Width: 0.03
+    Name: Grid
+    Normal Cell Count: 0
+    Offset:
+      X: 0
+      Y: 0
+      Z: 0
+    Plane: XY
+    Plane Cell Count: 10
+    Reference Frame: ""
+    Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48 48 48
+    Fixed Frame: tr360_radar_1
+    Frame Rate: 30
+  Name: root
+  Tools:
+  - Class: rviz/Interact
+    Hide Inactive Objects: false
+  - Class: rviz/MoveCamera
+  - Class: rviz/Select
+  - Class: rviz/FocusCamera
+  - Class: rviz/Measure
+  - Class: rviz/2D Pose Estimate
+  - Class: rviz/2D Nav Goal
+  - Class: rviz/Publish Point
+  Value: rviz/Interact
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering: true
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.7853981852531433
+      Target Frame: ""
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 768
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000000000000000001d6000003c4fcfd0000000bf000000000000000000000432000001590000000643ffffff0000001000000032000001d6fcfd00000002df0000020f00000001000000000000000000000000fc0200000002fb000000100064006900730070006c00610079007300000001df0000020f00000001000000000000000000000000fc0100000001fb0000000a00760069006500770073000000014300000159fcfd0000000a000000000000000000000432000001590000000000000000000000000000000000000200000001000000005f0000012dfc0200000003fb0000001e0074006f006f006c005f00700072006f007000650072007400690065007300000001df0000020f00000001000000000000000000000000fc0100000001fb0000000c00740069006d00650072007300000000000000000000000000000000020000010000000000000000000000000000000000000000000200000001000000005f0000012dfc0200000003fb0000001e0074006f006f006c005f00700072006f007000650072007400690065007300000001df0000020f00000001000000000000000000000000fc0100000001fb0000000c00740069006d00650072007300000000000000000000000000000000020000010000000000000000000000000000000000000000000200000001000000005f0000012dfc0200000003fb极0000001e0074006f006f006c005f00700072006f007000650072007400极690065007300000001df0000020f00000001000000000000000000000000fc0100000001fb0000000c00740069006d0065007200730000000000000000000000000000000002000001000000000000000000000000000000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1024
+  X: 0
+  Y: 0
--- a/src/tr360_ros/include/tr360_ros/tr360_types.h
+++ b/src/tr360_ros/include/tr360_ros/tr360_types.h
@@ -0,0 +1,83 @@
+#ifndef TR360_ROS_TR360_TYPES_H
+#define TR360_ROS_TR360_TYPES_H
+
+#include <stdint.h>
+
+// 雷达帧头结构
+#pragma pack(push, 1)
+typedef struct 
+{
+    uint32_t a:9; // 方位角
+    uint32_t r:12; // 距离
+    int32_t e:11; // 俯仰角
+    uint8_t v; // rcs
+} points_5b;
+
+// 帧头对象新结构
+typedef struct 
+{
+    unsigned char Outtype; //0 raev 1 xyz
+    unsigned char Version; //默认4
+    unsigned char RadarType; //
+    unsigned char NFrame; 
+    unsigned int Rev[3];
+    unsigned int FrameCounter; // 帧计数
+    float Res[4]; // 分辨率
+    float Offset[4]; // 偏移量
+    float Time; //雷达输出时间和开始0度采集时间差值
+    int ObjNum; // 目标个数
+    unsigned int CheckSum; // 和校验
+} FrameHeadObjNewS;
+
+// 雷达头信息结构
+typedef struct
+{
+    char header[12]; //帧头 避障"TR360-3-60"，地形"TR360-4-60"
+    uint32_t FrameCounter; // 帧计数
+    uint32_t nRadar; // 传感器个数，避障默认2，地形默认1
+    uint32_t ObjNum; // 总目标个数
+    uint8_t Rev[36]; //保留
+    unsigned int CheckSum; //总和校验
+} RadarHeaderInfoS;
+
+// 参数限制结构
+typedef struct
+{
+    int RLo100; // 距离下限cm
+    int RHi100; // 距离上限cm
+    int azLo100; // 方位角下限
+    int azHi100; // 方位角上限
+    int elLo100; // 俯仰角下限
+    int elHi100; // 俯仰角上限
+    int vLo; // 幅值下限
+    int vHi; // 幅值上限
+    int xLo100;
+    int xHi100;
+    int yLo100;
+    int yHi100;
+    int zLo100;
+    int zHi100;
+    int azComp100; // 方位角补偿
+    int elComp100; // 俯仰角补偿
+    int Roll100; // 安装滚转角补偿
+    int Pitch100; // 安装俯仰角补偿
+    int Yaw100; // 安装方位角补偿
+    int type;
+    int xGLo100; // x显示下限
+    int xGHi100; // x显示上限
+    int yGLo100; // y显示下限
+    int yGHi100; // y显示上限
+    int zGLo100; // z显示下限
+    int zGHi100; // z显示上限
+    int vGLo; // 幅度显示下限
+    int vGHi; // 幅度显示上限
+    int nStep; // vGLo与vGHi之间显示nStep个色阶
+    int MaxPoint; //最多显示多少个点
+    int EleQ;
+    int ARQ;
+    int NegQ;
+} ParaLim;
+
+#pragma pack(pop)
+
+#endif // TR360_ROS_TR360_TYPES_H
--- a/src/tr360_ros/launch/tr360.launch
+++ b/src/tr360_ros/launch/tr360.launch
@@ -0,0 +1,53 @@
+<launch>
+    <!-- TR360-3-60 雷达节点 -->
+    <node name="tr360_3_60_node" pkg="tr360_ros" type="tr360_node" output="screen">
+        <!-- 雷达类型配置 -->
+        <param name="radar_type" type="string" value="TR360-3-60" />
+        
+        <!-- 雷达设备IP和端口 -->
+        <param name="radar_ip" type="string" value="192.168.1.80" />
+        <param name="radar_port" type="int" value="10123" />
+        
+        <!-- 本地接收IP和端口 -->
+        <param name="local_ip" type="string" value="192.168.1.193" />
+        <param name="local_port" type="int" value="10195" />
+        
+        <!-- 雷达数量配置 -->
+        <param name="max_radars" type="int" value="2" />
+        
+        <!-- 命令服务器配置 -->
+        <param name="enable_command_server" type="bool" value="true" />
+        <param name="max_history_size" type="int" value="100" />
+    </node>
+    
+    <!-- TR360-4-60 雷达节点 -->
+    <node name="tr360_4_60_node" pkg="tr360_ros" type="tr360_node" output="screen">
+        <!-- 雷达类型配置 -->
+        <param name="radar_type" type="string" value="TR360-4-60" />
+        
+        <!-- 雷达设备IP和端口 -->
+        <param name="radar_ip" type="string" value="192.168.1.81" />
+        <param name="radar_port" type="int" value="20223" />
+        
+        <!-- 本地接收IP和端口 -->
+        <param name="local_ip" type="string" value="192.168.1.193" />
+        <param name="local_port" type="int" value="20295" />
+        
+        <!-- 雷达数量配置 -->
+        <param name="max_radars" type="int" value="1" />
+        
+        <!-- 命令服务器配置 -->
+        <param name="enable_command_server" type="bool" value="true" />
+        <param name="max_history_size" type="int" value="100" />
+    </node>
+    
+    <!-- 点云过滤参数（全局参数） -->
+    <param name="min_range" type="double" value="0.0" />
+    <param name="max_range" type="double" value="100.0" />
+    <param name="min_intensity" type="double" value="0.0" />
+    <param name="max_intensity" type="double" value="100.0" />
+    
+    <!-- 启动RViz进行点云可视化 -->
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find tr360_ros)/config/tr360.rviz" />
+    
+</launch>
--- a/src/tr360_ros/package.xml
+++ b/src/tr360_ros/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>tr360_ros</name>
+  <version>0.1.0</version>
+  <description>ROS package for TR360 radar point cloud processing</description>
+  <maintainer email="yemai@example.com">yemai</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>pcl_conversions</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>pcl_ros</exec_depend>
+  <exec_depend>pcl_conversions</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+
+  <export>
+  </export>
+</package>
--- a/src/tr360_ros/src/test_publisher.cpp
+++ b/src/tr360_ros/src/test_publisher.cpp
@@ -0,0 +1,66 @@
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <cmath>
+
+class TestPublisher
+{
+private:
+    ros::NodeHandle nh_;
+    ros::Publisher cloud_pub_;
+    ros::Timer timer_;
+    
+public:
+    TestPublisher()
+    {
+        cloud_pub_ = nh_.advertise<sensor_msgs::PointCloud2>("tr360_points", 10);
+        timer_ = nh_.createTimer(ros::Duration(0.1), &TestPublisher::publishTestData, this);
+        ROS_INFO("Test publisher initialized");
+    }
+    
+    void publishTestData(const ros::TimerEvent& event)
+    {
+        // 创建测试点云数据
+        pcl::PointCloud<pcl::PointXYZI> cloud;
+        cloud.header.frame_id = "tr360_radar";
+        cloud.is_dense = false;
+        
+        // 生成模拟雷达数据（圆锥形点云）
+        int num_points = 1000;
+        for (int i = 0; i < num_points; ++i) {
+            float angle = 2.0 * M_PI * i / num_points;
+            float distance = 5.0 + 2.0 * sin(angle * 5.0);
+            float height = 2.0 * cos(angle * 3.0);
+            
+            pcl::PointXYZI point;
+            point.x = distance * cos(angle);
+            point.y = distance * sin(angle);
+            point.z = height;
+            point.intensity = 50.0 + 30.0 * sin(angle * 2.0);
+            
+            cloud.points.push_back(point);
+        }
+        
+        // 发布点云
+        sensor_msgs::PointCloud2 cloud_msg;
+        pcl::toROSMsg(cloud, cloud_msg);
+        cloud_msg.header.stamp = ros::Time::now();
+        cloud_msg.header.frame_id = "tr360_radar";
+        
+        cloud_pub_.publish(cloud_msg);
+        
+        ROS_INFO("Published %d test points", num_points);
+    }
+};
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "test_publisher");
+    
+    TestPublisher publisher;
+    ros::spin();
+    
+    return 0;
+}
--- a/src/tr360_ros/src/tr360_node.cpp
+++ b/src/tr360_ros/src/tr360_node.cpp
@@ -0,0 +1,459 @@
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <dynamic_reconfigure/server.h>
+#include "tr360_ros/tr360_types.h"
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <string.h>
+#include <thread>
+#include <vector>
+
+class TR360RadarNode
+{
+private:
+    ros::NodeHandle nh_;
+    std::vector<ros::Publisher> cloud_pubs_;
+    
+    int udp_socket_;
+    struct sockaddr_in server_addr_, client_addr_;
+    
+    // 配置参数
+    std::string radar_type_;
+    std::string radar_ip_;
+    int radar_port_;
+    std::string local_ip_;
+    int local_port_;
+    int max_radars_;
+    
+    // 命令历史记录
+    std::vector<std::string> command_history_;
+    int max_history_size_;
+    
+    // TCP命令服务器
+    int tcp_socket_;
+    bool enable_command_server_;
+    
+    // 点云处理状态
+    uint32_t state_;
+    uint32_t total_len_;
+    uint32_t len1_;
+    int counter_;
+    uint8_t header_buf_[128];
+    uint8_t out_data_[327680];
+    
+    ParaLim para_obj_;
+    
+public:
+    TR360RadarNode() : state_(0), total_len_(0), len1_(0), counter_(0)
+    {
+        // 初始化参数
+        ros::NodeHandle private_nh("~");
+        private_nh.param<std::string>("radar_type", radar_type_, "TR360-3-60");
+        private_nh.param<std::string>("radar_ip", radar_ip_, "192.168.1.80");
+        private_nh.param("radar_port", radar_port_, 10123);
+        private_nh.param<std::string>("local_ip", local_ip_, "192.168.1.193");
+        private_nh.param("local_port", local_port_, 10193);
+        private_nh.param("max_radars", max_radars_, 4); // 最大雷达数量
+        private_nh.param("enable_command_server", enable_command_server_, true);
+        private_nh.param("max_history_size", max_history_size_, 100);
+        
+        // 创建点云发布者（支持多个雷达）
+        for (int i = 0; i < max_radars_; ++i) {
+            std::string topic_name;
+            if (radar_type_ == "TR360-3-60" && max_radars_ == 2) {
+                // TR360-3-60 双雷达配置
+                if (i == 0) topic_name = "tr360_3_30_up";
+                else if (i == 1) topic_name = "tr360_3_60_front";
+                else topic_name = "tr360_points_" + std::to_string(i+1);
+            } else if (radar_type_ == "TR360-3-60" && max_radars_ == 1) {
+                // TR360-3-60 单雷达配置
+                topic_name = "tr360_4_60_terrain";
+            } else {
+                // 默认配置
+                topic_name = "tr360_points_" + std::to_string(i+1);
+            }
+            cloud_pubs_.push_back(nh_.advertise<sensor_msgs::PointCloud2>(topic_name, 10));
+        }
+        
+        // 初始化UDP socket
+        initUDP();
+        
+        // 初始化TCP命令服务器
+        if (enable_command_server_) {
+            initCommandServer();
+        }
+        
+        // 初始化参数对象
+        initParameters();
+    }
+    
+    void initUDP()
+    {
+        udp_socket_ = socket(AF_INET, SOCK_DGRAM, 0);
+        if (udp_socket_ < 0) {
+            ROS_ERROR("Failed to create socket");
+            return;
+        }
+        
+        // 设置本地地址
+        memset(&server_addr_, 0, sizeof(server_addr_));
+        server_addr_.sin_family = AF_INET;
+        server_addr_.sin_addr.s_addr = inet_addr(local_ip_.c_str());
+        server_addr_.sin_port = htons(local_port_);
+        
+        // 绑定socket
+        if (bind(udp_socket_, (struct sockaddr*)&server_addr_, sizeof(server_addr_)) < 0) {
+            ROS_ERROR("Bind failed");
+            close(udp_socket_);
+            return;
+        }
+        
+        ROS_INFO("UDP socket initialized on %s:%d", local_ip_.c_str(), local_port_);
+        
+        // 根据雷达类型设置默认端口
+        if (radar_type_ == "TR360-3-60") {
+            local_port_ = 10195;
+        } else if (radar_type_ == "TR360-4-60") {
+            local_port_ = 20295;
+        }
+    }
+    
+    void initParameters()
+    {
+        // 初始化参数默认值
+        para_obj_.RLo100 = 0;
+        para_obj_.RHi100 = 4000;
+        para_obj_.azLo100 = 0;
+        para_obj_.azHi100 = 36000;
+        para_obj_.elLo100 = -12000;
+        para_obj_.elHi100 = 12000;
+        para_obj_.vLo = 0;
+        para_obj_.vHi = 100;
+        para_obj_.xLo100 = -4000;
+        para_obj_.xHi100 = 4000;
+        para_obj_.yLo100 = -4000;
+        para_obj_.yHi100 = 4000;
+        para_obj_.zLo100 = -4000;
+        para_obj_.zHi100 = 4000;
+        para_obj_.azComp100 = 0;
+        para_obj_.elComp100 = 0;
+        para_obj_.Roll100 = 0;
+        para_obj_.Pitch100 = 0;
+        para_obj_.Yaw100 = 0;
+        para_obj_.xGLo100 = -4000;
+        para_obj_.xGHi100 = 4000;
+        para_obj_.yGLo100 = -4000;
+        para_obj_.yGHi100 = 4000;
+        para_obj_.zGLo100 = -4000;
+        para_obj_.zGHi100 = 4000;
+        para_obj_.vGLo = 20;
+        para_obj_.vGHi = 60;
+        para_obj_.nStep = 33;
+        para_obj_.MaxPoint = 20000;
+        para_obj_.EleQ = 0;
+        para_obj_.ARQ = 0;
+        para_obj_.NegQ = 0;
+    }
+    
+    int parseFrame(unsigned char *data, unsigned int len)
+    {
+        RadarHeaderInfoS *ptr = (RadarHeaderInfoS *)data;
+        FrameHeadObjNewS *frame_ptr;
+        
+        const char *header = radar_type_.c_str();
+        
+        if (strncmp(header, (char*)ptr->header, strlen(header)) == 0) {
+            frame_ptr = (FrameHeadObjNewS *)(data + 64);
+            
+            if (state_ != 3) {
+                ROS_DEBUG("Counter:%d, len1:%d, total_len:%d, ObjNum:%d, nRadar:%d, RadarObj:%d", 
+                         counter_, len1_, total_len_, ptr->ObjNum, ptr->nRadar, frame_ptr->ObjNum);
+            }
+            
+            if (len >= 128) {
+                memcpy(header_buf_, data, 128);
+            } else {
+                memset(header_buf_, 0, 128);
+            }
+            
+            total_len_ = ptr->ObjNum * 5 + ptr->nRadar * 64 + 64;
+            len1_ = len;
+            state_ = 1;
+        } else if (state_ == 1) {
+            len1_ += len;
+            state_ = 2;
+        } else if (state_ == 2) {
+            len1_ += len;
+            state_ = 2;
+        }
+        
+        if (state_ == 1) {
+            counter_++;
+            if ((total_len_ < 0) || (total_len_ > 60000)) {
+                ROS_WARN("Invalid total length: %d", total_len_);
+                total_len_ = 0;
+                state_ = 0;
+            }
+        }
+        
+        if (state_) {
+            if (len1_ > total_len_) {
+                ptr = (RadarHeaderInfoS *)header_buf_;
+                frame_ptr = (FrameHeadObjNewS *)(header_buf_ + 64);
+                ROS_WARN("Data length exceeded: Counter:%d, len1:%d, total_len:%d", 
+                        counter_, len1_, total_len_);
+                total_len_ = 0;
+                state_ = 0;
+            } else if (len1_ == total_len_) {
+                total_len_ = 0;
+                state_ = 3;
+                return state_;
+            }
+        }
+        
+        return state_;
+    }
+    
+    void callback_arev5b(float *arve, void *ptr, float *factor4, float *offset4)
+    {
+        points_5b *point_ptr = (points_5b *)ptr;
+        arve[0] = point_ptr->a * factor4[0] + offset4[0];
+        arve[1] = point_ptr->r * factor4[1] + offset4[1];
+        arve[2] = point_ptr->e * factor4[2];
+        arve[3] = point_ptr->v * factor4[3] + offset4[3];
+    }
+    
+    void processPointCloud(unsigned char *data, unsigned int len)
+    {
+        RadarHeaderInfoS *radar_info_ptr = (RadarHeaderInfoS *)data;
+        if (radar_info_ptr->nRadar == 0) {
+            return;
+        }
+        
+        // 处理所有雷达数据
+        for (int radar_idx = 0; radar_idx < radar_info_ptr->nRadar; ++radar_idx) {
+            if (radar_idx >= cloud_pubs_.size()) {
+                ROS_WARN("Radar index %d exceeds configured publisher count", radar_idx);
+                continue;
+            }
+        
+        FrameHeadObjNewS frame_obj = *(FrameHeadObjNewS *)(data + 64 * radar_idx + 64);
+        
+        // 创建PCL点云
+        pcl::PointCloud<pcl::PointXYZI> cloud;
+        cloud.header.frame_id = "tr360_radar";
+        cloud.is_dense = false;
+        
+        // 解析点云数据
+        points_5b *points = (points_5b *)(data + len - 5 * frame_obj.ObjNum);
+        
+        for (int i = 0; i < frame_obj.ObjNum; ++i) {
+            points_5b point = points[i];
+            
+            // 转换为直角坐标系
+            float a_rad = point.a * frame_obj.Res[0] + frame_obj.Offset[0];
+            float r = point.r * frame_obj.Res[1] + frame_obj.Offset[1];
+            float e_rad = point.e * frame_obj.Res[2];
+            float intensity = point.v * frame_obj.Res[3] + frame_obj.Offset[3];
+            
+            // 坐标转换: {x,y,z,v} = {r*cos(e)*cos(a), r*cos(e)*sin(a), r*sin(e), v}
+            pcl::PointXYZI pcl_point;
+            pcl_point.x = r * cos(e_rad) * cos(a_rad);
+            pcl_point.y = r * cos(e_rad) * sin(a_rad);
+            pcl_point.z = r * sin(e_rad);
+            pcl_point.intensity = intensity;
+            
+            cloud.points.push_back(pcl_point);
+        }
+        
+            // 发布点云
+            sensor_msgs::PointCloud2 cloud_msg;
+            pcl::toROSMsg(cloud, cloud_msg);
+            cloud_msg.header.stamp = ros::Time::now();
+            cloud_msg.header.frame_id = "tr360_radar_" + std::to_string(radar_idx + 1);
+            
+            cloud_pubs_[radar_idx].publish(cloud_msg);
+            
+            ROS_INFO("Published %lu points from radar %d", cloud.points.size(), radar_idx + 1);
+        }
+    }
+    
+    void initCommandServer()
+    {
+        tcp_socket_ = socket(AF_INET, SOCK_STREAM, 0);
+        if (tcp_socket_ < 0) {
+            ROS_ERROR("Failed to create TCP socket");
+            return;
+        }
+        
+        // 设置TCP服务器地址
+        struct sockaddr_in tcp_addr;
+        memset(&tcp_addr, 0, sizeof(tcp_addr));
+        tcp_addr.sin_family = AF_INET;
+        tcp_addr.sin_addr.s_addr = inet_addr(local_ip_.c_str());
+        tcp_addr.sin_port = htons(local_port_ + 1000); // 命令端口为数据端口+1000
+        
+        // 绑定并监听
+        if (bind(tcp_socket_, (struct sockaddr*)&tcp_addr, sizeof(tcp_addr)) < 0) {
+            ROS_ERROR("TCP bind failed");
+            close(tcp_socket_);
+            return;
+        }
+        
+        if (listen(tcp_socket_, 5) < 0) {
+            ROS_ERROR("TCP listen failed");
+            close(tcp_socket_);
+            return;
+        }
+        
+        ROS_INFO("TCP command server started on %s:%d", local_ip_.c_str(), local_port_ + 1000);
+    }
+    
+    void handleCommand(int client_sock)
+    {
+        char buffer[1024];
+        int recv_len = recv(client_sock, buffer, sizeof(buffer) - 1, 0);
+        
+        if (recv_len > 0) {
+            buffer[recv_len] = '\0';
+            std::string command(buffer);
+            
+            // 去除回车换行
+            size_t pos;
+            while ((pos = command.find("\r\n")) != std::string::npos) {
+                command.erase(pos, 2);
+            }
+            while ((pos = command.find('\n')) != std::string::npos) {
+                command.erase(pos, 1);
+            }
+            while ((pos = command.find('\r')) != std::string::npos) {
+                command.erase(pos, 1);
+            }
+            
+            // 添加到历史记录
+            addToHistory(command);
+            
+            // 处理命令
+            std::string response = processRadarCommand(command);
+            
+            // 发送响应（添加回车换行）
+            response += "\r\n";
+            send(client_sock, response.c_str(), response.length(), 0);
+            
+            ROS_INFO("Command: %s -> Response: %s", command.c_str(), response.c_str());
+        }
+        
+        close(client_sock);
+    }
+    
+    void addToHistory(const std::string& command)
+    {
+        command_history_.push_back(command);
+        if (command_history_.size() > max_history_size_) {
+            command_history_.erase(command_history_.begin());
+        }
+    }
+    
+    std::string processRadarCommand(const std::string& command)
+    {
+        if (command == "history") {
+            std::string history;
+            for (size_t i = 0; i < command_history_.size(); ++i) {
+                history += std::to_string(i + 1) + ": " + command_history_[i] + "\n";
+            }
+            return history.empty() ? "No command history" : history;
+        }
+        else if (command == "status") {
+            return "Radar type: " + radar_type_ + ", Port: " + std::to_string(local_port_);
+        }
+        else if (command.find("set_port") == 0) {
+            // 设置端口命令格式: set_port 10195
+            size_t space_pos = command.find(' ');
+            if (space_pos != std::string::npos) {
+                try {
+                    int new_port = std::stoi(command.substr(space_pos + 1));
+                    local_port_ = new_port;
+                    return "Port set to: " + std::to_string(new_port);
+                } catch (...) {
+                    return "Invalid port number";
+                }
+            }
+            return "Usage: set_port <port_number>";
+        }
+        
+        // 默认响应 - 模拟雷达命令响应
+        return "ACK: " + command;
+    }
+    
+    void run()
+    {
+        unsigned char buffer[1500];
+        socklen_t client_len = sizeof(client_addr_);
+        fd_set read_fds;
+        int max_fd;
+        
+        while (ros::ok()) {
+            FD_ZERO(&read_fds);
+            FD_SET(udp_socket_, &read_fds);
+            max_fd = udp_socket_;
+            
+            if (enable_command_server_) {
+                FD_SET(tcp_socket_, &read_fds);
+                if (tcp_socket_ > max_fd) max_fd = tcp_socket_;
+            }
+            
+            struct timeval timeout = {0, 100000}; // 100ms timeout
+            
+            int activity = select(max_fd + 1, &read_fds, NULL, NULL, &timeout);
+            
+            if (activity > 0) {
+                // 处理UDP数据
+                if (FD_ISSET(udp_socket_, &read_fds)) {
+                    int recv_len = recvfrom(udp_socket_, buffer, sizeof(buffer), 0,
+                                          (struct sockaddr*)&client_addr_, &client_len);
+                    
+                    if (recv_len > 0) {
+                        int result = parseFrame(buffer, recv_len);
+                        if (result == 3) {
+                            processPointCloud(buffer, recv_len);
+                        }
+                    }
+                }
+                
+                // 处理TCP命令连接
+                if (enable_command_server_ && FD_ISSET(tcp_socket_, &read_fds)) {
+                    struct sockaddr_in client_addr;
+                    socklen_t client_len = sizeof(client_addr);
+                    int client_sock = accept(tcp_socket_, (struct sockaddr*)&client_addr, &client_len);
+                    
+                    if (client_sock >= 0) {
+                        // 在新线程中处理命令
+                        std::thread(&TR360RadarNode::handleCommand, this, client_sock).detach();
+                    }
+                }
+            }
+            
+            ros::spinOnce();
+        }
+        
+        close(udp_socket_);
+        if (enable_command_server_) {
+            close(tcp_socket_);
+        }
+    }
+};
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "tr360_radar_node");
+    
+    TR360RadarNode node;
+    node.run();
+    
+    return 0;
+}
				`@@ -0,0 +1 @@`
				`/opt/ros/noetic/share/catkin/cmake/toplevel.cmake`