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/src/agv_pro_ros.cpp
+18 -2
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@@ -1,5 +1,21 @@
#include "agv_pro_base/agv_pro_driver.h"
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} };
AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
{
this->declare_parameter<std::string>("port_name","/dev/ttyS0");
@@ -101,8 +117,8 @@ void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
try
{
size_t bytes_transmit_size = port->send(data_vec);
port->send(data_vec);
// size_t bytes_transmit_size = port->send(data_vec);
// std::stringstream ss;
// for (auto b : data_vec) {
// ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)