ROS_Robot/wpb_home
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add odom flag

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This commit is contained in:
zhangwanjie 2021-04-21 13:07:11 +08:00
parent 7219148a97
commit 92cfe78b0e
2 changed files with 21 additions and 11 deletions
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3
wpb_home_bringup/launch/js_ctrl.launch
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@ -2,7 +2,8 @@
<!-- wpb_home core-->
<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
<param name="serial_port" type="string" value="/dev/ftdi"/>
<param name="serial_port" type="string" value="/dev/ftdi"/>
<param name="odom" type="bool" value="false"/>
<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
</node>

29
wpb_home_bringup/src/wpb_home_core.cpp
View File

@ -145,8 +145,11 @@ int main(int argc, char** argv)
n_param.param<std::string>("serial_port", strSerialPort, "/dev/ttyUSB0");
m_wpb_home.Open(strSerialPort.c_str(),115200);
bool bImuOdom;
bool bImuOdom = false;
n_param.param<bool>("imu_odom", bImuOdom, false);
bool bOdom = true;
n_param.param<bool>("odom", bOdom, true);
ros::Time current_time, last_time;
current_time = ros::Time::now();
@ -279,9 +282,12 @@ int main(int argc, char** argv)
odom.twist.twist.angular.y = 0;
odom.twist.twist.angular.z = fVz;
//plublishing the odometry and new tf
broadcaster.sendTransform(odom_trans);
odom_pub.publish(odom);
if(bOdom == true)
{
//plublishing the odometry and new tf
broadcaster.sendTransform(odom_trans);
odom_pub.publish(odom);
}
lastVel.linear.x = fVx;
lastVel.linear.y = fVy;
@ -293,12 +299,15 @@ int main(int argc, char** argv)
}
else
{
odom_trans.header.stamp = ros::Time::now();
//plublishing the odometry and new tf
broadcaster.sendTransform(odom_trans);
odom.header.stamp = ros::Time::now();
odom_pub.publish(odom);
//ROS_INFO("[odom] zero");
if(bOdom == true)
{
odom_trans.header.stamp = ros::Time::now();
//plublishing the odometry and new tf
broadcaster.sendTransform(odom_trans);
odom.header.stamp = ros::Time::now();
odom_pub.publish(odom);
//ROS_INFO("[odom] zero");
}
}
pose_diff_pub.publish(pose_diff_msg);