From 6477148f33e3f4f68724e5551986f2ac4945240d Mon Sep 17 00:00:00 2001 From: zhangwanjie Date: Fri, 16 Oct 2020 11:42:57 +0800 Subject: [PATCH] update odom --- wpb_home_bringup/src/wpb_home_calibrate_velocity.cpp | 4 ++-- wpb_home_bringup/src/wpb_home_core.cpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/wpb_home_bringup/src/wpb_home_calibrate_velocity.cpp b/wpb_home_bringup/src/wpb_home_calibrate_velocity.cpp index 0559adc..3644bd0 100644 --- a/wpb_home_bringup/src/wpb_home_calibrate_velocity.cpp +++ b/wpb_home_bringup/src/wpb_home_calibrate_velocity.cpp @@ -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; diff --git a/wpb_home_bringup/src/wpb_home_core.cpp b/wpb_home_bringup/src/wpb_home_core.cpp index 63f6dd0..7978f4d 100644 --- a/wpb_home_bringup/src/wpb_home_core.cpp +++ b/wpb_home_bringup/src/wpb_home_core.cpp @@ -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;