Console Output

Warning: A secret was passed to "httpRequest" using Groovy String interpolation, which is insecure.
		 Affected argument(s) used the following variable(s): [gitlabToken]
		 See https://jenkins.io/redirect/groovy-string-interpolation for details.
HttpMethod: GET
URL: http://159.27.226.4/api/v4/projects/1676/repository/commits/bf2ccb2
Content-Type: application/json
PRIVATE-TOKEN: *****
Sending request to url: http://159.27.226.4/api/v4/projects/1676/repository/commits/bf2ccb2
Response Code: HTTP/1.1 200 OK
Response: 
{"id":"bf2ccb2aafaa849dcf63c9a588060325e5bdba3a","short_id":"bf2ccb2a","created_at":"2026-09-10T05:51:04.000-04:00","parent_ids":["9b50da34e2f8c268a4b0e0466f65c04dcfdb5517"],"title":"fix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_ground","message":"fix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_ground\n\npose_frame_id 决定 lookupTransform(pose_frame_id, frame_id_) 取到的\ntrans_lidar_to_imu —— 即把点云搬到「位姿所在刚体」的外参, 所以它必须和\npose 话题描述的刚体对上:\n\n  /msf/imu_pose_raw_estimate -\u003e imu_raw        (原本就对)\n  /msf/dr_pose               -\u003e imu            (原先错写成 base_ground)\n  /vehicle/localization      -\u003e base_ground    (原先没有这条分支)\n\n原先 dr_pose 被强制成 base_ground, 力臂差了整整 5.007m: AT002 车上 tf_static\n实测 base_ground-\u003eimu = (4.450, 0.760, 2.165) 且旋转差 0.000°, 即\nimu-\u003elidar_front=(1.688,-0.780,0.810) vs base_ground-\u003elidar_front=(6.138,-0.020,2.975)。\n\n补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose,\n车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角:\n  中位 0.1263° -\u003e 1.10 cm\n  P90  0.3313° -\u003e 2.90 cm\n  P99  0.7755° -\u003e 6.78 cm\n  最大 1.1158° -\u003e 9.76 cm\n直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 被掩盖了一年,\n干线车高速转弯才显现。\n\n刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw,\nvehicle/localization=base_ground。\n\n源头是 4cd98d4(2025-09-24, zhjfeng, feat_out:增加运动补偿处理) 的原始实现,\n除 main 外所有分支都继承了它。同一处错误也存在于 rslidar_sdk 与 hesai_lidar,\n一并修正。\n\nvia [HAPI](https://hapi.run)\n\nCo-Authored-By: HAPI \u003cnoreply@hapi.run\u003e\nCo-Authored-By: Claude Opus 5 (1M context) \u003cnoreply@anthropic.com\u003e\nClaude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK\n","author_name":"lxs","author_email":"xiaosonglan@gmail.com","authored_date":"2026-09-10T05:51:04.000-04:00","committer_name":"lxs","committer_email":"xiaosonglan@gmail.com","committed_date":"2026-09-10T05:51:04.000-04:00","trailers":{},"web_url":"http://159.27.226.4/driver_and_tools/rslidar_sdk_new/-/commit/bf2ccb2aafaa849dcf63c9a588060325e5bdba3a","stats":{"additions":11,"deletions":2,"total":13},"status":null,"project_id":1676,"last_pipeline":null}
Success: Status code 200 is in the accepted range: 100:399