在beginner_tutorials包中创建src/add_two_ints_server.cpp文件并粘贴以下内容进去：

bash
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#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"

bool add(beginner_tutorials::AddTwoInts::Request  &req,
         beginner_tutorials::AddTwoInts::Response &res)
{
  res.sum = req.a + req.b;
  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

https://wiki.ros.org/cn/ROS/Tutorials/WritingPubli

https://github.com/OpenBMB/AgentCPM-GUI/blob/main/README_zh.md

AgentCPM-GUI是由清华大学THUNLP实验室、中国人民大学与面壁智能团队联合开发的开源端侧智能体大模型，基于MiniCPM-V构建，总参数量8B，接受手机屏幕图像作为输入，自动执行用户提出的任务。AgentCPM-GUI的主要特性包括：

1. 高质量GUI Grounding：通过在大规模中英文Android数据集上进行预训练，有效提升了对常见GUI控件（如按钮、输入框、标签、图标等）的定位与理解能力；
2. 中文APP操作能力：首个针对中文APP精细优化的开源GUI Agent，覆盖高德地图、大众点评、哔哩哔哩、小红书等30余个主流中文APP；
3. 增强的规划推理能力：通过强化微调技术（RFT），让模型输出动作前进行推理思考，有效提升复杂任务执行的成功率；
4. 紧凑的动作空间设计：采用优化的动作空间和紧凑的JSON格式，平均动作长度压缩至9.7个token，提升端侧推理的效率。

使用neat_packing进行sft训练，模型性能指标下降明显 #5426

Benchmark performance gap between packing or not #30

https://github.com/MeetKai/functionary/tree/main/functionary/train/packing

LLaMA-Factory使用HuggingFace的datasets库来管理数据。

1. 核心数据存储库

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from datasets import Dataset, DatasetDict, load_from_disk, save_to_disk

1. GPG 密钥过期

   bash
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   The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654
   

   ROS 软件源的签名密钥已过期，导致系统拒绝信任该软件源。

解决方法

1. 更新 ROS 软件源密钥

运行以下命令修复 GPG 密钥：

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sudo apt-key del F42ED6FBAB17C654  # 删除旧密钥
sudo apt update  # 此时会提示缺少密钥
sudo apt install curl -y  # 确保 curl 已安装
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

2. 强制更新软件源

bash
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sudo apt update --fix-missing
sudo apt clean  # 清理损坏的缓存
sudo apt update

https://huggingface.co/docs/tokenizers/api/added-tokens

python
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from rich import print
from transformers import AutoTokenizer
def add_new_tokens(load_path: str, save_path: str, new_tokens: list[str]):
    tokenizer = AutoTokenizer.from_pretrained(load_path)
    tokenizer.add_tokens(new_tokens)
    tokenizer.save_pretrained(save_path)
def update_tokenizer(model_path: str):
    add_new_tokens(
        model_path, model_path, ["<|call_start|>", "<|call_end|>", "<|toolcall_start|>", "<|toolcall_end|>"]
    )
def test_tokenizer(model_path: str):
    tokenizer = AutoTokenizer.from_pretrained(model_path)
    text = "hello <|call_start|> world <|call_end|>"
    print(text, tokenizer.tokenize(text), tokenizer.encode(text))
    text = "hello <|toolcall_start|> world <|toolcall_end|>"
    print(text, tokenizer.tokenize(text), tokenizer.encode(text))
if __name__ == "__main__":
    update_tokenizer("/mnt/jfs6/model_ok/qwen2vl-0811-1/checkpoint-6400")
    test_tokenizer("/mnt/jfs6/model_ok/qwen2vl-0811-1/checkpoint-6400")

使用 /usr/share/fonts/opentype/noto/NotoSansCJK-Regular.ttc

bash
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def draw_bbox_on_pil_image(pil_image, bbox, text, color, thickness=2, font_size=12):
    """在PIL图片上绘制bbox和文本"""
    draw = ImageDraw.Draw(pil_image)
    
    # 获取图片尺寸
    img_width, img_height = pil_image.size
    
    # 转换bbox格式 [x_br, y_br, x_tl, y_tl] -> [x1, y1, x2, y2]
    x_br, y_br, x_tl, y_tl = bbox
    
    # 将0-1000的归一化坐标转换为实际图片坐标
    x_br = int(x_br * img_width / 1000)
    y_br = int(y_br * img_height / 1000)
    x_tl = int(x_tl * img_width / 1000)
    y_tl = int(y_tl * img_height / 1000)
    
    # 确保坐标顺序正确
    x1 = min(x_tl, x_br)
    y1 = min(y_tl, y_br)
    x2 = max(x_tl, x_br)
    y2 = max(y_tl, y_br)
    
    # 绘制矩形框
    draw.rectangle([x1, y1, x2, y2], outline=color, width=thickness)
    
    # 绘制文本
    try:
        font = ImageFont.truetype("/usr/share/fonts/opentype/noto/NotoSansCJK-Regular.ttc", font_size)
    except:
        font = ImageFont.load_default()
    # 获取文本尺寸
    bbox_text = draw.textbbox((0, 0), text, font=font)
    text_width = bbox_text[2] - bbox_text[0]
    text_height = bbox_text[3] - bbox_text[1]
    
    # 绘制文本背景
    draw.rectangle([x1, y1 - text_height - 5, x1 + text_width + 10, y1], 
                   fill=(255, 255, 255), outline=(0, 0, 0))
    
    # 绘制文本
    draw.text((x1 + 5, y1 - text_height - 2), text, fill=(0, 0, 0), font=font)
    
    return pil_image

资料

官网ROS教程： https://wiki.ros.org/cn/ROS/Tutorials

中国大学MOOC---《机器人操作系统入门》课程讲义 https://sychaichangkun.gitbooks.io/ros-tutorial-icourse163/content/

autolabor： http://www.autolabor.com.cn/book/ROSTutorials/

视频教程： https://www.bilibili.com/video/BV1zt411G7Vn/?p=1

Cursor使用这样链接到容器里：

bash
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root@101.126.150.28 -p 8031