ROS_Robot/wpb_home
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update odom

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zhangwanjie 2020-10-16 11:42:57 +08:00
parent 4887b5af8d
commit 6477148f33
2 changed files with 5 additions and 5 deletions
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4
wpb_home_bringup/src/wpb_home_calibrate_velocity.cpp
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@ -71,8 +71,8 @@ public:
{
std::cout << "输入如下指令并回车执行：\n"
"W - 前进1米 \nS - 后退1米\n"
"A - 左平移1米\nD - 右平移1米 \n"
"Q - 逆时针转360度\nE - 顺时针转360度\nX - 退出\n";
"A - 左平移1米\nD - 右平移1米 \n"
"Q - 逆时针转360度\nE - 顺时针转360度\nX - 退出\n";
//we will be sending commands of type "twist"
geometry_msgs::Twist base_cmd;

6
wpb_home_bringup/src/wpb_home_core.cpp
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@ -209,9 +209,9 @@ int main(int argc, char** argv)
fVy = (fPosDiff[0] + fPosDiff[1]) - (fPosDiff[0] + fPosDiff[1] + fPosDiff[2])*fKVy;
fVz = (fPosDiff[0] + fPosDiff[1] + fPosDiff[2])*fKVz;
double fTimeDur = current_time.toSec() - last_time.toSec();
fVx = fVx/(fTimeDur*9700);
fVy = fVy/(fTimeDur*9700);
fVz = fVz/(fTimeDur*1925);
fVx = fVx/(fTimeDur*9100);
fVy = fVy/(fTimeDur*9100);
fVz = fVz/(fTimeDur*1840);
double dx = (lastVel.linear.x*cos(lastPose.theta) - lastVel.linear.y*sin(lastPose.theta))*fTimeDur;
double dy = (lastVel.linear.x*sin(lastPose.theta) + lastVel.linear.y*cos(lastPose.theta))*fTimeDur;