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CARLA 车辆动力学仿真 — 轮胎模型、动力传动、车辆物理参数配置，支持 CARLA-ROS2 桥接
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Based on SOC occupation classification
视觉语言动作模型 Vision-Language-Action 技能 - VLA 机器人控制、UniDiffuser、World Action Model
视觉语言导航 Vision-Language Navigation 技能 - VLN 自然语言导航、HF-RCN/R罗汉导航智能体
CARLA-Air 空地一体仿真技能 - 车辆+无人机联合仿真、ROS2 Humble 桥接
AI Agent 技能引导 — 加载上下文、路由技能、创建新技能
ROS2 CMakeLists.txt 依赖检查规则库 - 禁止省略ament_export_dependencies、禁止裸消息类型、禁止find_package不写REQUIRED
机器人感知系统技能库 - 视觉感知、激光雷达感知、传感器融合、边缘推理、标定
| name | vehicle-dynamics |
| description | CARLA 车辆动力学仿真 — 轮胎模型、动力传动、车辆物理参数配置，支持 CARLA-ROS2 桥接 |
| argument-hint | CARLA 车辆 OR vehicle dynamics OR 车辆动力学 OR 轮胎模型 OR carla |
| user-invocable | true |
agents/skills/simulation/gazebo/agents/skills/ros2-debug/# 设置车辆物理参数
vehicle_physics = carla.VehiclePhysicsControl(
torque_curve=[(0, 500), (3000, 800)],
max_rpm=6000,
drag_coefficient=0.3,
center_of_mass=carla.Vector3D(0, 0, -0.5),
)
# Pacejka 轮胎模型参数
wheel_friction=0.8,
roll_friction=0.1,
# CARLA → ROS2
carla_ros_bridge # 自动桥接
/carla/vehicle/odometry → /odom
/carla/vehicle/cmd_vel → /cmd_vel