m5p3nc3r/agv_pro_ros2
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Fix build and dependency issues

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This commit is contained in:
X-lanni
2025-06-05 18:19:09 +08:00
parent f38e38a56b
commit d1def0f369
4 changed files with 29 additions and 18 deletions
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agv_pro_base/include/agv_pro_base/agv_pro_driver.h
+3 -15
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@@ -11,26 +11,14 @@
#include <sensor_msgs/msg/imu.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#define RECEIVE_DATA_SIZE 13 //The length of the data sent by the esp32
#define SEND_DATA_SIZE 13 //The length of data sent by ROS to the esp32
#define RETURN_COMMAND 0x25
std::array<double, 36> odom_pose_covariance = {
{1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9} };
std::array<double, 36> odom_twist_covariance = {
{1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9} };
extern std::array<double, 36> odom_pose_covariance;
extern std::array<double, 36> odom_twist_covariance;
class AGV_PRO : public rclcpp::Node
{