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Warnings << lidar_loc_v2:make /senior/workspace/orin-slave32/slave/logs/lidar_loc_v2/build.make.000.log
In file included from [01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp:5[m[K:
/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.h: In instantiation of ‘[01m[Kupdate::MapEvaluate<PointType>::MapEvaluate(const typename pcl::PointCloud<PointT>::Ptr&) [with PointType = pcl::PointXYZI; typename pcl::PointCloud<PointT>::Ptr = boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >][m[K’:
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp:412:24:[m[K   required from here
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.h:65:44:[m[K [01;35m[Kwarning: [m[K‘[01m[Kupdate::MapEvaluate<pcl::PointXYZI>::map_pcl_ptr_[m[K’ will be initialized after [[01;35m[K-Wreorder[m[K]
   65 |   typename pcl::PointCloud<PointType>::Ptr [01;35m[Kmap_pcl_ptr_[m[K = nullptr;
      |                                            [01;35m[K^~~~~~~~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.h:49:40:[m[K [01;35m[Kwarning: [m[K  ‘[01m[Kpcl::PointCloud<pcl::PointXYZI>::Ptr update::MapEvaluate<pcl::PointXYZI>::pcl_with_color[m[K’ [[01;35m[K-Wreorder[m[K]
   49 |   pcl::PointCloud<pcl::PointXYZI>::Ptr [01;35m[Kpcl_with_color[m[K = nullptr;
      |                                        [01;35m[K^~~~~~~~~~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.h:41:3:[m[K [01;35m[Kwarning: [m[K  when initialized here [[01;35m[K-Wreorder[m[K]
   41 |   [01;35m[KMapEvaluate[m[K(const typename pcl::PointCloud<PointType>::Ptr& map_pcl_ptr)
      |   [01;35m[K^~~~~~~~~~~[m[K
/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp: In instantiation of ‘[01m[Kvoid update::MapEvaluate<PointType>::ComEigenValue(update::OCTO_TREE_NODE<PointType>&) [with PointType = pcl::PointXYZI][m[K’:
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp:412:24:[m[K   required from here
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp:363:23:[m[K [01;35m[Kwarning: [m[Kvariable ‘[01m[KUev[m[K’ set but not used [[01;35m[K-Wunused-but-set-variable[m[K]
  363 |       Eigen::Matrix3f [01;35m[KUev[m[K = saes.eigenvectors();
      |                       [01;35m[K^~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp:[m[K In member function ‘[01m[Kvoid update::MapEvaluate<PointType>::DividePoints() [with PointType = pcl::PointXYZI][m[K’:
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/update/evaluate/map_evaluate.cpp:309:9:[m[K [01;35m[Kwarning: [m[K‘[01m[Kchild_index[m[K’ may be used uninitialized in this function [[01;35m[K-Wmaybe-uninitialized[m[K]
  309 |     int [01;35m[Kchild_index[m[K;
      |         [01;35m[K^~~~~~~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/global.cpp:284:20:[m[K [01;35m[Kwarning: [m[K‘[01m[Kstd::string common::GetLogDir()[m[K’ defined but not used [[01;35m[K-Wunused-function[m[K]
  284 | static std::string [01;35m[KGetLogDir[m[K() {
      |                    [01;35m[K^~~~~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:[m[K In member function ‘[01m[Kstd::string common::OverlayTextIntegrator::MeasStatusToString(int)[m[K’:
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:134:19:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  134 |   if (state & [01;35m[K0x1 == 0x1[m[K) {
      |               [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:139:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  139 |   if (state >> 1U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:144:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  144 |   if (state >> 2U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:149:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  149 |   if (state >> 3U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:154:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  154 |   if (state >> 4U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:159:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  159 |   if (state >> 5U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/common/util/overlay_text_integrator.cpp:164:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  164 |   if (state >> 6U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/reflect_match/feature/feature_extractor.cpp:[m[K In member function ‘[01m[Kvoid loc::feature::FeatureExtractor::AccumulateFeature(const loc::feature::Feature&, const common::TimePose&, const PclPcdPtr&, loc::PclPcdPtr&)[m[K’:
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/reflect_match/feature/feature_extractor.cpp:348:8:[m[K [01;35m[Kwarning: [m[Kvariable ‘[01m[Kstay_still[m[K’ set but not used [[01;35m[K-Wunused-but-set-variable[m[K]
  348 |   bool [01;35m[Kstay_still[m[K = false;
      |        [01;35m[K^~~~~~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:[m[K In function ‘[01m[Kstd::string loc::MeasStatusToString(int)[m[K’:
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:187:19:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  187 |   if (state & [01;35m[K0x1 == 0x1[m[K) {
      |               [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:192:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  192 |   if (state >> 1U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:197:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  197 |   if (state >> 2U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:202:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  202 |   if (state >> 3U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:207:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  207 |   if (state >> 4U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
[01m[K/senior/workspace/orin-slave32/slave/src/lidar_loc_v2/loc/lidar/src/data_interface.cpp:212:25:[m[K [01;35m[Kwarning: [m[Ksuggest parentheses around comparison in operand of ‘[01m[K&[m[K’ [[01;35m[K-Wparentheses[m[K]
  212 |   if (state >> 5U & [01;35m[K0x1 == 0x1[m[K) {
      |                     [01;35m[K~~~~^~~~~~[m[K
cd /senior/workspace/orin-slave32/slave/build/lidar_loc_v2; catkin build --get-env lidar_loc_v2 | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -
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...............................................................................
Finished <<< lidar_loc_v2                          [ 8 minutes and 33.8 seconds ]
[build] Summary: All 62 packages succeeded!                                    
[build] Ignored: None.                                                         
[build] Warnings: 40 packages succeeded with warnings.                         
[build] Abandoned: No packages were abandoned.                                 
[build] Failed: No packages failed.                                            
[build] Runtime: 14 minutes and 45.0 seconds total.                            
[build] Note: Workspace packages have changed, please re-source setup files to use them.
[Pipeline] echo
不编译pnc或者缺少依赖
[Pipeline] }
[Pipeline] // dir
[Pipeline] }
[Pipeline] // script
[Pipeline] }
[Pipeline] // stage
[Pipeline] stage
[Pipeline] { (zip->post)
[Pipeline] script
[Pipeline] {
[Pipeline] ansiColor
[Pipeline] {

[Pipeline] echo
 >>>>>>>>>>压缩成zip包>>>>>>>>>> 
[Pipeline] }

[Pipeline] // ansiColor
[Pipeline] dir
Running in /senior/workspace/orin-slave32/slave
[Pipeline] {
[Pipeline] sh
+ zip -rq all_slave_2026-05-25_17-38-59.zip ./install/ ./version.json
[Pipeline] sh
+ ls /senior/workspace/orin-slave32/slave
all_slave_2026-05-25_17-38-59.zip
build
devel
install
logs
src
version.json
[Pipeline] }
[Pipeline] // dir
[Pipeline] sh
+ rm -rf /senior/workspace/orin-slave32/slave@tmp
[Pipeline] echo
/senior/workspace/orin-slave32/slave/all_slave_2026-05-25_17-38-59.zip,/senior/workspace/orin-slave32/slave/version.json
[Pipeline] echo
------------------- 开始上传公网ota ---------------------------------------------------------------------
[Pipeline] sh
+ curl -X POST http://ota.senior.auto/prod-api/otaUploadFileAndVersion --form 'Content-Type="multipart/form-data"' --form 'file=@"/senior/workspace/orin-slave32/slave/all_slave_2026-05-25_17-38-59.zip"' --form 'version=@"/senior/workspace/orin-slave32/slave/version.json"'
  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
                                 Dload  Upload   Total   Spent    Left  Speed

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100  969M    0     0  100  969M      0   128M  0:00:07  0:00:07 --:--:-- 95.8M
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100  969M    0     0  100  969M      0   101M  0:00:09  0:00:09 --:--:-- 3951k
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100  969M    0     0  100  969M      0  83.9M  0:00:11  0:00:11 --:--:--     0
100  969M    0     0  100  969M      0  77.2M  0:00:12  0:00:12 --:--:--     0
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100  969M    0     0  100  969M      0  66.6M  0:00:14  0:00:14 --:--:--     0
100  969M    0     0  100  969M      0  62.3M  0:00:15  0:00:15 --:--:--     0
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100  969M    0     0  100  969M      0  52.2M  0:00:18  0:00:18 --:--:--     0
100  969M    0     0  100  969M      0  49.5M  0:00:19  0:00:19 --:--:--     0
100  969M    0     0  100  969M      0  47.1M  0:00:20  0:00:20 --:--:--     0
100  969M    0     0  100  969M      0  44.9M  0:00:21  0:00:21 --:--:--     0
100  969M    0     0  100  969M      0  42.9M  0:00:22  0:00:22 --:--:--     0
100  969M    0     0  100  969M      0  41.1M  0:00:23  0:00:23 --:--:--     0
100  969M    0     0  100  969M      0  39.4M  0:00:24  0:00:24 --:--:--     0
100  969M    0     0  100  969M      0  37.9M  0:00:25  0:00:25 --:--:--     0
100  969M    0     0  100  969M      0  36.5M  0:00:26  0:00:26 --:--:--     0
100  969M    0     0  100  969M      0  35.1M  0:00:27  0:00:27 --:--:--     0
100  969M    0     0  100  969M      0  33.9M  0:00:28  0:00:28 --:--:--     0
100  969M    0     0  100  969M      0  32.7M  0:00:29  0:00:29 --:--:--     0
100  969M    0     0  100  969M      0  31.7M  0:00:30  0:00:30 --:--:--     0
100  969M    0     0  100  969M      0  30.7M  0:00:31  0:00:31 --:--:--     0
100  969M    0     0  100  969M      0  29.7M  0:00:32  0:00:32 --:--:--     0
100  969M    0     0  100  969M      0  28.8M  0:00:33  0:00:33 --:--:--     0
100  969M    0     0  100  969M      0  28.0M  0:00:34  0:00:34 --:--:--     0
100  969M    0     0  100  969M      0  27.2M  0:00:35  0:00:35 --:--:--     0
100  969M    0    43  100  969M      1  26.7M  0:00:36  0:00:36 --:--:--     9
100  969M    0    43  100  969M      1  26.7M  0:00:36  0:00:36 --:--:--    11
[Pipeline] echo
{"msg":"操作成功","code":200,"data":""}
[Pipeline] readJSON
[Pipeline] echo
[msg:操作成功, code:200, data:]
[Pipeline] echo
status:200
[Pipeline] echo
{"msg":"操作成功","code":200,"data":""}
[Pipeline] echo
------------------- 开始上传厦门ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传大榭ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传苏溪ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传烟台ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传友谊关ota ---------------------------------------------------------------------
[Pipeline] echo
 public 
[Pipeline] echo
上传失败：[]
[Pipeline] }
[Pipeline] // script
[Pipeline] }
[Pipeline] // stage
[Pipeline] stage
[Pipeline] { (Declarative: Post Actions)
[Pipeline] script
[Pipeline] {
[Pipeline] echo
always
[Pipeline] sh
+ rm -rf /senior/workspace/orin-slave32/slave/.catkin_tools /senior/workspace/orin-slave32/slave/build/ /senior/workspace/orin-slave32/slave/devel/ /senior/workspace/orin-slave32/slave/install /senior/workspace/orin-slave32/slave/logs/
[Pipeline] }
[Pipeline] // script
[Pipeline] script
[Pipeline] {
[Pipeline] sh
+ cp -r /senior/workspace/commit/orin-slave32/slave_tmp/cache_bag_node /senior/workspace/commit/orin-slave32/slave_tmp/camera_driver /senior/workspace/commit/orin-slave32/slave_tmp/crane_align /senior/workspace/commit/orin-slave32/slave_tmp/dox /senior/workspace/commit/orin-slave32/slave_tmp/fast_lio-port /senior/workspace/commit/orin-slave32/slave_tmp/hdcontrol /senior/workspace/commit/orin-slave32/slave_tmp/hesai_lidar /senior/workspace/commit/orin-slave32/slave_tmp/imv_spreader_detection /senior/workspace/commit/orin-slave32/slave_tmp/lego-loam-bor /senior/workspace/commit/orin-slave32/slave_tmp/lidar_camera_fusion /senior/workspace/commit/orin-slave32/slave_tmp/lidar_loc_v2 /senior/workspace/commit/orin-slave32/slave_tmp/lidar_manual_calib /senior/workspace/commit/orin-slave32/slave_tmp/login_sync_tool /senior/workspace/commit/orin-slave32/slave_tmp/mrpt2 /senior/workspace/commit/orin-slave32/slave_tmp/msg_recorder /senior/workspace/commit/orin-slave32/slave_tmp/new_detection /senior/workspace/commit/orin-slave32/slave_tmp/new_truck_spreader_detection /senior/workspace/commit/orin-slave32/slave_tmp/node-manager /senior/workspace/commit/orin-slave32/slave_tmp/node_manager_online /senior/workspace/commit/orin-slave32/slave_tmp/ole_lidar /senior/workspace/commit/orin-slave32/slave_tmp/performance_analyst /senior/workspace/commit/orin-slave32/slave_tmp/rcinterpreter /senior/workspace/commit/orin-slave32/slave_tmp/rminterpreter /senior/workspace/commit/orin-slave32/slave_tmp/ros-bridge /senior/workspace/commit/orin-slave32/slave_tmp/rslidar_sdk /senior/workspace/commit/orin-slave32/slave_tmp/rslidar_sdk_new /senior/workspace/commit/orin-slave32/slave_tmp/rtsp_relayer /senior/workspace/commit/orin-slave32/slave_tmp/schedule_manager /senior/workspace/commit/orin-slave32/slave_tmp/senior_calibration /senior/workspace/commit/orin-slave32/slave_tmp/shared_msgs /senior/workspace/commit/orin-slave32/slave_tmp/slave /senior/workspace/commit/orin-slave32/slave_tmp/system_monitor /senior/workspace/commit/orin-slave32/slave_tmp/system-ros /senior/workspace/commit/orin-slave32/slave_tmp/thirdparty /senior/workspace/commit/orin-slave32/slave_tmp/TruckUpLiDarCalibTool /senior/workspace/commit/orin-slave32/slave_tmp/unified-system-monitor /senior/workspace/commit/orin-slave32/slave_tmp/versions_observer /senior/workspace/commit/orin-slave32/slave_tmp/warningModule /senior/workspace/commit/orin-slave32/slave/
[Pipeline] sh
+ rm -rf /senior/workspace/commit/orin-slave32/slave_tmp
[Pipeline] readJSON
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
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webhtml准备完成
[Pipeline] echo
 修改点云匹配逻辑 由每帧NDT + ICP， 改成首帧匹配成功后仅用ICP
[Pipeline] echo
 增加日志统计, 匹配中地图点数，雷达参与匹配点数, 匹配时间
[Pipeline] echo
 增加匹配时地图点 体素下采样滤波
[Pipeline] echo
 增加雷达Z高度范围控制（默认上2，下3的范围）
[Pipeline] echo
 （1）增加mrpt与icp匹配时间分别统计，（2）增加匹配过程中各阶段位姿变化量
[Pipeline] echo
 增加保存pcd文件夹数量限制，及是否保存开关
[Pipeline] echo
 增加控制保存pcd文件的时长，每个文件夹最多3min
[Pipeline] echo
 增加车辆静止时，维持3s激光定位处理数据输出定位
[Pipeline] echo
 临时创建测试分支-rc_dev_ship_gicp
[Pipeline] echo
 使用高程图的高程（已取消按预测位姿）Z对ref_map做上下裁剪
[Pipeline] echo
 增加使用msf的z+|pitch|绝对值替代仅用msf的pitch，增加每次切高程图时触发一次剪裁局部参考地图; 增加每次切换高程图和局部pcd日志及时间点
[Pipeline] echo
 增加merge_raw_before_feature = false或者true开关，false 原始点云(各雷达) -> 非主雷达转主系 -> 各雷达分别提特征(多线程) -> 特征拼接 -> 匹配定位，true  原始点云(各雷达) -> 非主雷达转主系 -> 原始点云拼接 -> 整体提一次特征 -> 匹配定位
[Pipeline] echo
 增加逻辑 （1）坡道区域是否使用GICP及yaml;（2）坡道区域激光定位输出Z，改用msf的Z替代高程图中Z; （3）坡道区域，每运行3D空间距离2米，剪裁1次参考地图
[Pipeline] echo
 增加(1)剪裁参考地图 限制甲板层固定高度（一层Z高程（-2.3， 3.5），三层Z高程（ 3.5，+10.0），五层Z高程（10.0， 15.0））; 坡道，用融合msf的Z，控制上下剪裁±5。增加（2）及在坡道上剪裁的地图， 持续与高程图剪切的地图并存5s后删除
[Pipeline] echo
 3个激光雷达，增加数据的接收逻辑，保证每个雷达队列内数据个数，在停车时侯一致
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
威海空挂挂角适配初版.
[Pipeline] echo
威海顶后雷达空挂挂角检出适配.
[Pipeline] echo
同步最新模型.
[Pipeline] echo
合并接挂相关.
[Pipeline] echo
 对车挂参数判空
[Pipeline] echo
 接收挂参bug
[Pipeline] echo
威海接挂消息适配,0无挂,1有挂有箱,2有挂无箱.
[Pipeline] echo
修复airy雷达可能的range访问越界问题.
[Pipeline] echo
修改seg NROI位置,减少进入地面分割等重复计算的点数.
[Pipeline] echo
NROI过滤点在debug模式下加入到rectified_cloud显示中.
[Pipeline] echo
沟沿点适配NROI修改.
[Pipeline] echo
洋浦NROI修改.
[Pipeline] echo
增加参数控制NROI前移至地面校正前.
[Pipeline] echo
 NROI过滤修改.
[Pipeline] echo
修改额外NROI区域,接受list参数去除多个位置.
[Pipeline] echo
合并rc_dev关于NROI的修改.
[Pipeline] echo
附加NROI区域增加z值范围约束.
[Pipeline] echo
青威更新高分阈值.
[Pipeline] echo
修复空挂修正车挂框无显示问题.
[Pipeline] echo
修复truck_trailer_change使用挡流板校正时EKF没使用其值的问题.
[Pipeline] echo
甲板上降低点云过滤高度4.4->4.2.
[Pipeline] echo
威海船舱内非行人类别静态不输出obj.
[Pipeline] echo
合并weihai_jt128分支.
[Pipeline] echo
修复挂状态切换车头过滤默认值错误的bug.
[Pipeline] echo
修复箱体面校正丢弃rear_down雷达点云的问题.
[Pipeline] echo
车头后部过滤高度降低生效条件为trailer_label>0.
[Pipeline] echo
增加威海船舱内甲板像素&&相关策略.
[Pipeline] echo
威海过滤船舱内的stacker.
[Pipeline] echo
 青威车身点在原坐标系下经过过滤框.
[Pipeline] echo
去除调试打印日志.
[Pipeline] echo
车头无挂状态不处理车挂EKF和过滤.
[Pipeline] echo
车头无挂状态不处理车挂EKF和过滤.
[Pipeline] echo
威海增加车挂信息校验&&不匹配达60帧以上时发出301044故障码.
[Pipeline] echo
不匹配达60帧以上时发出301044改为TAKEOVER级别.
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
修改offline参数
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
增加起步时间
[Pipeline] echo
增加剩余续航里程字段
[Pipeline] echo
字段精度调整
[Pipeline] echo
修改外设cmd消息
[Pipeline] echo
增加外设状态反馈字段
[Pipeline] echo
外设命令cmd枚举调整
[Pipeline] echo
添加云端规划消息
[Pipeline] echo
添加云端规划消息
[Pipeline] echo
add cloud_planning_response
[Pipeline] echo
增加续航里程字段
[Pipeline] echo
增加沈汽环卫上装控制
[Pipeline] echo
补充外设字段
[Pipeline] echo
处理合并冲突
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
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[Pipeline] echo
<!DOCTYPE html><html><head><meta charset="utf-8"><title>msg2html</title></head><body><h1>更新内容</h1><h2>模块名: cache_bag_node</h2><h2>模块名: camera_driver</h2><h2>模块名: crane_align</h2><h2>模块名: dox</h2><h2>模块名: hdcontrol</h2><h2>模块名: hesai_lidar</h2><h2>模块名: lidar_camera_fusion</h2><h2>模块名: lidar_loc_v2</h2><h3>feat_out</h3><ul><li> 修改点云匹配逻辑 由每帧NDT + ICP， 改成首帧匹配成功后仅用ICP</li><li> 增加日志统计, 匹配中地图点数，雷达参与匹配点数, 匹配时间</li><li> 增加匹配时地图点 体素下采样滤波</li><li> 增加雷达Z高度范围控制（默认上2，下3的范围）</li><li> （1）增加mrpt与icp匹配时间分别统计，（2）增加匹配过程中各阶段位姿变化量</li><li> 增加保存pcd文件夹数量限制，及是否保存开关</li><li> 增加控制保存pcd文件的时长，每个文件夹最多3min</li><li> 增加车辆静止时，维持3s激光定位处理数据输出定位</li><li> 临时创建测试分支-rc_dev_ship_gicp</li><li> 使用高程图的高程（已取消按预测位姿）Z对ref_map做上下裁剪</li><li> 增加使用msf的z+|pitch|绝对值替代仅用msf的pitch，增加每次切高程图时触发一次剪裁局部参考地图; 增加每次切换高程图和局部pcd日志及时间点</li><li> 增加merge_raw_before_feature = false或者true开关，false 原始点云(各雷达) -> 非主雷达转主系 -> 各雷达分别提特征(多线程) -> 特征拼接 -> 匹配定位，true  原始点云(各雷达) -> 非主雷达转主系 -> 原始点云拼接 -> 整体提一次特征 -> 匹配定位</li><li> 增加逻辑 （1）坡道区域是否使用GICP及yaml;（2）坡道区域激光定位输出Z，改用msf的Z替代高程图中Z; （3）坡道区域，每运行3D空间距离2米，剪裁1次参考地图</li><li> 增加(1)剪裁参考地图 限制甲板层固定高度（一层Z高程（-2.3， 3.5），三层Z高程（ 3.5，+10.0），五层Z高程（10.0， 15.0））; 坡道，用融合msf的Z，控制上下剪裁±5。增加（2）及在坡道上剪裁的地图， 持续与高程图剪切的地图并存5s后删除</li><li> 3个激光雷达，增加数据的接收逻辑，保证每个雷达队列内数据个数，在停车时侯一致</li></ul><h2>模块名: login_sync_tool</h2><h2>模块名: mrpt2</h2><h2>模块名: new_detection</h2><h3>note_out</h3><ul><li>威海空挂挂角适配初版.</li><li>威海顶后雷达空挂挂角检出适配.</li><li>同步最新模型.</li><li>合并接挂相关.</li><li> 对车挂参数判空</li><li> 接收挂参bug</li><li>威海接挂消息适配,0无挂,1有挂有箱,2有挂无箱.</li><li>修复airy雷达可能的range访问越界问题.</li><li>修改seg NROI位置,减少进入地面分割等重复计算的点数.</li><li>NROI过滤点在debug模式下加入到rectified_cloud显示中.</li><li>沟沿点适配NROI修改.</li><li>洋浦NROI修改.</li><li>增加参数控制NROI前移至地面校正前.</li><li> NROI过滤修改.</li><li>修改额外NROI区域,接受list参数去除多个位置.</li><li>合并rc_dev关于NROI的修改.</li><li>附加NROI区域增加z值范围约束.</li><li>青威更新高分阈值.</li><li>修复空挂修正车挂框无显示问题.</li><li>修复truck_trailer_change使用挡流板校正时EKF没使用其值的问题.</li><li>甲板上降低点云过滤高度4.4->4.2.</li><li>威海船舱内非行人类别静态不输出obj.</li><li>合并weihai_jt128分支.</li><li>修复挂状态切换车头过滤默认值错误的bug.</li><li>修复箱体面校正丢弃rear_down雷达点云的问题.</li><li>车头后部过滤高度降低生效条件为trailer_label>0.</li><li>增加威海船舱内甲板像素&&相关策略.</li><li>威海过滤船舱内的stacker.</li><li> 青威车身点在原坐标系下经过过滤框.</li><li>去除调试打印日志.</li><li>车头无挂状态不处理车挂EKF和过滤.</li><li>车头无挂状态不处理车挂EKF和过滤.</li><li>威海增加车挂信息校验&&不匹配达60帧以上时发出301044故障码.</li><li>不匹配达60帧以上时发出301044改为TAKEOVER级别.</li></ul><h2>模块名: node-manager</h2><h2>模块名: node_manager_online</h2><h2>模块名: ole_lidar</h2><h2>模块名: rcinterpreter</h2><h2>模块名: rslidar_sdk</h2><h2>模块名: rslidar_sdk_new</h2><h3>feat_out</h3><ul><li>修改offline参数</li></ul><h2>模块名: rtsp_relayer</h2><h2>模块名: senior_calibration</h2><h2>模块名: shared_msgs</h2><h3>feat_out</h3><ul><li>增加起步时间</li><li>增加剩余续航里程字段</li><li>字段精度调整</li><li>修改外设cmd消息</li><li>增加外设状态反馈字段</li><li>外设命令cmd枚举调整</li><li>添加云端规划消息</li><li>添加云端规划消息</li><li>add cloud_planning_response</li><li>增加续航里程字段</li><li>增加沈汽环卫上装控制</li><li>补充外设字段</li><li>处理合并冲突</li></ul><h2>模块名: system_monitor</h2><h2>模块名: system-ros</h2><h2>模块名: thirdparty</h2><h2>模块名: unified-system-monitor</h2><h2>模块名: versions_observer</h2><h2>模块名: warningModule</h2></body></html>
[Pipeline] echo
msg已经准备完成
[Pipeline] sh
+ touch /senior/workspace/orin-slave32/slave/index.html
[Pipeline] writeFile
[Pipeline] echo
html更新完成
[Pipeline] publishHTML
[htmlpublisher] Archiving HTML reports...
[htmlpublisher] Archiving at BUILD level /senior/workspace/orin-slave32/slave to /var/lib/jenkins/jobs/orin-slave32/builds/398/htmlreports/update_20message
[Pipeline] wrap
[Pipeline] {
[Pipeline] script
[Pipeline] {
[Pipeline] echo
user: , telphone: null
[Pipeline] echo
用户不存在列表中
[Pipeline] }
[Pipeline] // script
[Pipeline] sh
+ curl -X POST 'http://143.64.81.104:8080/robot/send?access_token=c4e318472bbd19d0449efb4060de213f730dc32b4bf44819381a8fa7adf61983' -H 'Content-Type: application/json' -d '{"msgtype": "markdown","markdown": {"title":"jenkins通知","text": "# 版本发布通知    
    
### [威海5月全量包-从机] 
 ---  
  - 版本名： [all_slave_2026-05-25_17-38-59] 
  - 状态：<font color=#01B468> 编译成功 </font> 
  - 执行人：sunyufu 
  - 更新模块:  
  [lidar_loc_v2][new_detection][rslidar_sdk_new][shared_msgs]  
  - 上传平台: public  
   - 任务号: [orin-slave32 #398] 
   - 具体更新内容点此链接 [该版本详细内容点此](http://jenkins.vehicle.senior.auto:8080/jenkins/job/orin-slave32/398/update_20message/index.html)  
  > 请ota发布同学尽快发布验证，并在群里同步发布信息～ "},"at": {"atMobiles": [""],"isAtAll": "false"} }'
  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
                                 Dload  Upload   Total   Spent    Left  Speed

  0     0    0     0    0     0      0      0 --:--:-- --:--:-- --:--:--     0
100   738  100    27  100   711    264   6970 --:--:-- --:--:-- --:--:--  7235
[Pipeline] echo
{"errcode":0,"errmsg":"ok"}
[Pipeline] }
[Pipeline] // wrap
[Pipeline] }
[Pipeline] // script
[Pipeline] }
[Pipeline] // stage
[Pipeline] }
[Pipeline] // timeout
[Pipeline] }
Lock released on resource [Label: orin-arm, Quantity: 1]
[Pipeline] // lock
[Pipeline] }
[Pipeline] // withEnv
[Pipeline] }
[Pipeline] // withEnv
[Pipeline] }
[Pipeline] // node
[Pipeline] End of Pipeline
Finished: SUCCESS