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Add odometry publishing functionality with initial validation

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This commit is contained in:
X-lanni
2025-06-10 17:34:47 +08:00
parent 4eefeb4b61
commit e551ce2394
2 changed files with 81 additions and 83 deletions
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agv_pro_base/include/agv_pro_base/agv_pro_driver.h
+4 -3
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@@ -13,8 +13,8 @@
#include <tf2/LinearMath/Quaternion.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 RECEIVE_DATA_SIZE 14 //The length of the data sent by the esp32
#define SEND_DATA_SIZE 14 //The length of data sent by ROS to the esp32
#define RETURN_COMMAND 0x25
extern std::array<double, 36> odom_pose_covariance;
@@ -31,7 +31,6 @@ private:
bool readData();
void publisherOdom(double dt);
void publisherVoltage();
void clearSerialBuffer();
void cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg);
std::string frame_id_of_odometry_;
@@ -39,6 +38,8 @@ private:
std::string frame_id_of_imu_;
std::string name_space_;
std::string device_name_;
std::thread control_thread_;
double x= 0.0;
double y= 0.0;