Merge main to omni, especially for rmcs_referee

.clang-tidy

@@ -94,12 +94,12 @@ modernize-replace-random-shuffle,
 modernize-return-braced-init-list,
 modernize-shrink-to-fit,
 modernize-unary-static-assert,
-modernize-use-auto,
+# modernize-use-auto,
 modernize-use-bool-literals,
 modernize-use-emplace,
 modernize-use-equals-default,
 modernize-use-equals-delete,
-modernize-use-nodiscard,
+# modernize-use-nodiscard
 modernize-use-noexcept,
 modernize-use-nullptr,
 modernize-use-override,

.gitignore

@@ -62,3 +62,5 @@ MvSdkLog
 id_rsa
 id_rsa.pub
 
+# Recording files
+record

.gitmodules

@@ -11,6 +11,9 @@
 [submodule "rmcs_ws/src/fast_tf"]
 	path = rmcs_ws/src/fast_tf
 	url = https://github.com/qzhhhi/FastTF.git
+[submodule "rmcs_ws/src/rmcs_referee"]
+	path = rmcs_ws/src/rmcs_referee
+	url = https://github.com/Alliance-Algorithm/rmcs_referee
 [submodule "rmcs_ws/src/auto_aim"]
 	path = rmcs_ws/src/auto_aim
 	url = git@github.com:Alliance-Algorithm/auto_aim.git

rmcs_ws/src/rmcs_bringup/config/omni.yaml

@@ -3,7 +3,7 @@ rmcs_executor:
     update_rate: 1000.0
     components:
       - rmcs_core::hardware::cboard::Status -> cboard_status
-      - rmcs_core::hardware::referee::Status -> referee_status
+      - rmcs_referee::Status -> referee_status
 
       - rmcs_core::controller::gimbal::GimbalController -> gimbal_controller
       - rmcs_core::controller::pid::ErrorPidController -> yaw_angle_pid_controller
@@ -26,7 +26,12 @@ rmcs_executor:
       - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster
       - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
 
+      - rmcs_referee::command::Interaction -> referee_interaction
+      - rmcs_referee::command::interaction::Ui -> referee_ui
+      - rmcs_referee::app::ui::Infantry -> referee_ui_infantry
+
       - rmcs_core::hardware::cboard::Command -> cboard_command
+      - rmcs_referee::Command -> referee_command
 
       # - rmcs_core::hardware::cboard::GyroCalibrator -> gyro_calibrator
 
@@ -39,8 +44,8 @@ rmcs_executor:
 cboard_status:
   ros__parameters:
     path: /dev/ttyACM0
-    yaw_motor_zero_point: 5409
-    pitch_motor_zero_point: 391
+    yaw_motor_zero_point: 3088
+    pitch_motor_zero_point: 381
     imu_gx_bias: -0.001279
     imu_gy_bias: -0.001447
     imu_gz_bias: +0.002188