[{"data":1,"prerenderedAt":5383},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom":3,"wiki-doc-items-2023-12-30-ros2-tutorial":4962,"wiki:author-members":5371},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":267,"chapterOrder":4950,"date":4951,"description":28,"docKey":4952,"docRoot":4953,"docTitle":4954,"extension":4955,"isWikiDoc":669,"isWikiIndex":4956,"meta":4957,"navigation":669,"path":4958,"seo":4959,"stem":4960,"wikiDepth":36,"__hash__":4961},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-里程计Odom.md","里程计Odom",[7],"董佳辉",{"type":9,"value":10,"toc":4945},"minimark",[11,15,19,22,79,82,101,104,115,118,138,167,177,200,205,248,540,543,579,582,589,595,600,605,610,616,619,622,627,630,1319,1322,4933,4938,4941],[12,13,14],"h3",{"id":14},"功能包创建",[16,17,18],"p",{},"不一定非得要码盘(里程计Odom)的数据，只要把机器人6个自由度DOF，可以由电机编码器计算而来（x,y,z,yaw,pitch,roll不懂的看上方Moveit2里的教学）全部发过来就行。",[16,20,21],{},"首先先创建功能包",[23,24,29],"pre",{"className":25,"code":26,"language":27,"meta":28,"style":28},"language-bash shiki shiki-themes github-light github-dark","ros2 pkg create odom_plumb --build-type ament_cmake --dependencies rclcpp nav_msgs geometry_msgs tf2_ros --node-name odom_node\n","bash","",[30,31,32],"code",{"__ignoreMap":28},[33,34,37,41,45,48,51,55,58,61,64,67,70,73,76],"span",{"class":35,"line":36},"line",1,[33,38,40],{"class":39},"sScJk","ros2",[33,42,44],{"class":43},"sZZnC"," pkg",[33,46,47],{"class":43}," create",[33,49,50],{"class":43}," odom_plumb",[33,52,54],{"class":53},"sj4cs"," --build-type",[33,56,57],{"class":43}," ament_cmake",[33,59,60],{"class":53}," --dependencies",[33,62,63],{"class":43}," rclcpp",[33,65,66],{"class":43}," nav_msgs",[33,68,69],{"class":43}," geometry_msgs",[33,71,72],{"class":43}," tf2_ros",[33,74,75],{"class":53}," --node-name",[33,77,78],{"class":43}," odom_node\n",[16,80,81],{},"先编译一下",[23,83,85],{"className":25,"code":84,"language":27,"meta":28,"style":28},"colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON\n",[30,86,87],{"__ignoreMap":28},[33,88,89,92,95,98],{"class":35,"line":36},[33,90,91],{"class":39},"colcon",[33,93,94],{"class":43}," build",[33,96,97],{"class":53}," --cmake-args",[33,99,100],{"class":53}," -DCMAKE_EXPORT_COMPILE_COMMANDS=ON\n",[12,102,103],{"id":103},"消息接口",[16,105,106,107,110,111,114],{},"底盘驱动启动之后，会持续广播一个比较重要的数据——里程计。里程计用于描述当前机器人相对于出发点的位姿以及速度等信息，里程计在机器人定位和导航的局部路径规划中有着重要的作用。在ROS2中里程计消息被封装为了",[30,108,109],{},"nav_msgs\u002Fmsg\u002FOdometry","接口，可通过指令",[30,112,113],{},"ros2 interface show nav_msgs\u002Fmsg\u002FOdometry","查看该接口的具体数据结构，结果如下：",[16,116,117],{},"它描述的是机器人位姿与速度的预估信息。 其中位姿信息是以header中的frame_id为参考系的，而速度信息则是以child_frame_id为参考系的。",[16,119,120,121,125,126,129,130,133,134,137],{},"在 ",[122,123,124],"strong",{},"ROS2"," 中， ",[122,127,128],{},"odom 坐标系"," （通常是 ",[30,131,132],{},"odom"," frame）遵循 ",[122,135,136],{},"右手坐标系"," ，其定义如下：",[139,140,141,151,159],"ul",{},[142,143,144,147,148],"li",{},[122,145,146],{},"X 轴"," ：向前（前进方向）为 ",[122,149,150],{},"正",[142,152,153,156,157],{},[122,154,155],{},"Y 轴"," ：向左（左侧方向）为 ",[122,158,150],{},[142,160,161,164,165],{},[122,162,163],{},"Z 轴"," ：向上（垂直地面）为 ",[122,166,150],{},[16,168,120,169,172,173,176],{},[122,170,171],{},"ROS2 的 odom 坐标系"," （右手坐标系）中， ",[122,174,175],{},"yaw 角的定义"," 如下：",[139,178,179,189,195],{},[142,180,181,184,185,188],{},[122,182,183],{},"yaw = 0"," ：机器人面向 ",[122,186,187],{},"X 轴正方向"," （向前）。",[142,190,191,194],{},[122,192,193],{},"逆时针（CCW，Counter Clockwise）旋转为正"," 。",[142,196,197,194],{},[122,198,199],{},"顺时针（CW，Clockwise）旋转为负",[16,201,202],{},[122,203,204],{},"yaw 角范围",[139,206,207,224,239],{},[142,208,209,212,213],{},[30,210,211],{},"yaw ∈ (-π, π]"," ",[122,214,215,216,219,220,223],{},"（即 ",[30,217,218],{},"-180°"," 到 ",[30,221,222],{},"180°","）",[142,225,226,227,230,231,234,235,238],{},"当 ",[30,228,229],{},"yaw = π","（180°），如果继续增加，应该跳转到 ",[30,232,233],{},"-π","（-180°），而不是 ",[30,236,237],{},"π","。",[142,240,226,241,244,245,247],{},[30,242,243],{},"yaw = -π","（-180°），如果继续减少，应该跳转到 ",[30,246,237],{},"（180°）。",[23,249,251],{"className":25,"code":250,"language":27,"meta":28,"style":28},"std_msgs\u002FHeader header # 标头\n builtin_interfaces\u002FTime stamp # 时间戳\n int32 sec\n uint32 nanosec\n string frame_id # 位姿信息所参考的坐标系\n位姿信息所指向的坐标系，也是速度信息所参考的坐标系\nstring child_frame_id\n相对于frame_id的预估位姿信息\ngeometry_msgs\u002FPoseWithCovariance pose\n Pose pose\n Point position # 坐标\n float64 x\n float64 y\n float64 z\n Quaternion orientation # 四元数\n float64 x 0\n float64 y 0\n float64 z 0\n float64 w 1\n float64[36] covariance\n相对于child_frame_id的预估线速度与角速度\ngeometry_msgs\u002FTwistWithCovariance twist\n Twist twist\n Vector3 linear # 线速度\n float64 x\n float64 y\n float64 z\n Vector3 angular # 角速度\n float64 x\n float64 y\n float64 z\n float64[36] covariance\n",[30,252,253,265,277,286,295,307,313,322,328,337,345,357,366,374,382,394,405,415,425,436,445,451,460,468,480,487,494,501,512,519,526,533],{"__ignoreMap":28},[33,254,255,258,261],{"class":35,"line":36},[33,256,257],{"class":39},"std_msgs\u002FHeader",[33,259,260],{"class":43}," header",[33,262,264],{"class":263},"sJ8bj"," # 标头\n",[33,266,268,271,274],{"class":35,"line":267},2,[33,269,270],{"class":39}," builtin_interfaces\u002FTime",[33,272,273],{"class":43}," stamp",[33,275,276],{"class":263}," # 时间戳\n",[33,278,280,283],{"class":35,"line":279},3,[33,281,282],{"class":39}," int32",[33,284,285],{"class":43}," sec\n",[33,287,289,292],{"class":35,"line":288},4,[33,290,291],{"class":39}," uint32",[33,293,294],{"class":43}," nanosec\n",[33,296,298,301,304],{"class":35,"line":297},5,[33,299,300],{"class":39}," string",[33,302,303],{"class":43}," frame_id",[33,305,306],{"class":263}," # 位姿信息所参考的坐标系\n",[33,308,310],{"class":35,"line":309},6,[33,311,312],{"class":39},"位姿信息所指向的坐标系，也是速度信息所参考的坐标系\n",[33,314,316,319],{"class":35,"line":315},7,[33,317,318],{"class":39},"string",[33,320,321],{"class":43}," child_frame_id\n",[33,323,325],{"class":35,"line":324},8,[33,326,327],{"class":39},"相对于frame_id的预估位姿信息\n",[33,329,331,334],{"class":35,"line":330},9,[33,332,333],{"class":39},"geometry_msgs\u002FPoseWithCovariance",[33,335,336],{"class":43}," pose\n",[33,338,340,343],{"class":35,"line":339},10,[33,341,342],{"class":39}," Pose",[33,344,336],{"class":43},[33,346,348,351,354],{"class":35,"line":347},11,[33,349,350],{"class":39}," Point",[33,352,353],{"class":43}," position",[33,355,356],{"class":263}," # 坐标\n",[33,358,360,363],{"class":35,"line":359},12,[33,361,362],{"class":39}," float64",[33,364,365],{"class":43}," x\n",[33,367,369,371],{"class":35,"line":368},13,[33,370,362],{"class":39},[33,372,373],{"class":43}," y\n",[33,375,377,379],{"class":35,"line":376},14,[33,378,362],{"class":39},[33,380,381],{"class":43}," z\n",[33,383,385,388,391],{"class":35,"line":384},15,[33,386,387],{"class":39}," Quaternion",[33,389,390],{"class":43}," orientation",[33,392,393],{"class":263}," # 四元数\n",[33,395,397,399,402],{"class":35,"line":396},16,[33,398,362],{"class":39},[33,400,401],{"class":43}," x",[33,403,404],{"class":53}," 0\n",[33,406,408,410,413],{"class":35,"line":407},17,[33,409,362],{"class":39},[33,411,412],{"class":43}," y",[33,414,404],{"class":53},[33,416,418,420,423],{"class":35,"line":417},18,[33,419,362],{"class":39},[33,421,422],{"class":43}," z",[33,424,404],{"class":53},[33,426,428,430,433],{"class":35,"line":427},19,[33,429,362],{"class":39},[33,431,432],{"class":43}," w",[33,434,435],{"class":53}," 1\n",[33,437,439,442],{"class":35,"line":438},20,[33,440,441],{"class":39}," float64[36]",[33,443,444],{"class":43}," covariance\n",[33,446,448],{"class":35,"line":447},21,[33,449,450],{"class":39},"相对于child_frame_id的预估线速度与角速度\n",[33,452,454,457],{"class":35,"line":453},22,[33,455,456],{"class":39},"geometry_msgs\u002FTwistWithCovariance",[33,458,459],{"class":43}," twist\n",[33,461,463,466],{"class":35,"line":462},23,[33,464,465],{"class":39}," Twist",[33,467,459],{"class":43},[33,469,471,474,477],{"class":35,"line":470},24,[33,472,473],{"class":39}," Vector3",[33,475,476],{"class":43}," linear",[33,478,479],{"class":263}," # 线速度\n",[33,481,483,485],{"class":35,"line":482},25,[33,484,362],{"class":39},[33,486,365],{"class":43},[33,488,490,492],{"class":35,"line":489},26,[33,491,362],{"class":39},[33,493,373],{"class":43},[33,495,497,499],{"class":35,"line":496},27,[33,498,362],{"class":39},[33,500,381],{"class":43},[33,502,504,506,509],{"class":35,"line":503},28,[33,505,473],{"class":39},[33,507,508],{"class":43}," angular",[33,510,511],{"class":263}," # 角速度\n",[33,513,515,517],{"class":35,"line":514},29,[33,516,362],{"class":39},[33,518,365],{"class":43},[33,520,522,524],{"class":35,"line":521},30,[33,523,362],{"class":39},[33,525,373],{"class":43},[33,527,529,531],{"class":35,"line":528},31,[33,530,362],{"class":39},[33,532,381],{"class":43},[33,534,536,538],{"class":35,"line":535},32,[33,537,441],{"class":39},[33,539,444],{"class":43},[16,541,542],{},"需要注意的是，",[544,545,546,553,563,576],"ol",{},[142,547,548,549,552],{},"坐标和位姿是相对于",[122,550,551],{},"frame_id","的，一般是odom自己。",[142,554,555,556,559,560,562],{},"而线速度和角速度是相对于",[122,557,558],{},"child_frame_id","的。一般是base_link ",[122,561,238],{}," （这里注意，学长我最初就弄错了）",[142,564,565,566,569,570,573,574,238],{},"虽然Twist是相对于child_frame_id ",[122,567,568],{},"（"," base_link）的，但是他表达的是",[122,571,572],{},"瞬时值","，就和汽车一样，汽车上面的速度表也是相对于车身的",[122,575,572],{},[142,577,578],{},"里程计在计算时是存在累计误差的，它所描述的是机器人的预估位姿，并不绝对准确。",[12,580,581],{"id":581},"节点主要逻辑",[16,583,584,585,588],{},"所以我们需要初始化",[30,586,587],{},"nav_msgs::msg::Odometry","并发布出去。",[16,590,591],{},[592,593],"img",{"alt":28,"src":594},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1794.webp",[16,596,597],{},[592,598],{"alt":28,"src":599},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1795.webp",[16,601,602],{},[592,603],{"alt":28,"src":604},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1796.webp",[16,606,607],{},[592,608],{"alt":28,"src":609},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1797.webp",[16,611,612,613,615],{},"所以你需要从MCU单片机上去获取这些数据，或者计算这些数据，并以",[30,614,587],{},"类型的消息发送出去。",[16,617,618],{},"注意，如果你没有正儿八经的里程计，那么里程计的数据可以由底盘电机编码器数据计算而成。",[16,620,621],{},"除了发布话题的代码，别忘记发布odom与base_link之间的动态坐标变换。",[16,623,624],{},[592,625],{"alt":28,"src":626},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1798.webp",[16,628,629],{},"下方是运动学正解算出来的odom数据:",[23,631,635],{"className":632,"code":633,"language":634,"meta":28,"style":28},"language-cpp shiki shiki-themes github-light github-dark","#include \"odom_mg513.h\"\n#include \"mg513_gmr500ppr.h\"\n\u002F\u002F#include \u003Ccmath>\n#include \"arm_math.h\"\n\nODOM_Motor odom_motor_;\n\n\u002F\u002F 坐标系满足右手坐标系\n\n\u002F\u002F（单位：米）\n\u002F\u002F轮距\nextern fp32 Wheel_Spacing;\n\u002F\u002F轴距\nextern fp32 Alex_Spacing;\n\u002F\u002F轮子半径\nextern fp32 Wheel_Radius;\n\nvoid ODOM_Motor::Analysis(fp32 dt)\n{\n this->dt = dt;\n for(int16_t i = 0;i \u003C 4;i++)\n {\n \u002F\u002F 将 RPM 转换为 m\u002Fs\n encoder_wheel_velocities_[i] = mg513_gmr500ppr_motor[i].encoder.motor_data.motor_speed * 2.0f * 3.14159265358979f * Wheel_Radius \u002F 60.0f;\n }\n \u002F\u002F 计算机器人前进的线速度和角速度，公式不需要轮半径\n \u002F\u002F线速度，四个轮子在机器人的运动学模型中贡献相同，所以要除以4\n this->vx = ( encoder_wheel_velocities_[0] + encoder_wheel_velocities_[1] - encoder_wheel_velocities_[2] - encoder_wheel_velocities_[3]) \u002F 4.0f;\n this->vy = ( encoder_wheel_velocities_[0] - encoder_wheel_velocities_[1] - encoder_wheel_velocities_[2] + encoder_wheel_velocities_[3]) \u002F 4.0f;\n\n \u002F\u002F线速度，轮距（wheel_spacing） 决定了左右轮对旋转的贡献程度，轴距（alex_spacing） 决定了前后轮对旋转的贡献程度，\n \u002F\u002F所以要除以底盘尺寸，alex_spacing + wheel_spacing 是底盘尺寸。\n this->vw = (-encoder_wheel_velocities_[0] - encoder_wheel_velocities_[1] - encoder_wheel_velocities_[2] - encoder_wheel_velocities_[3]) \u002F (4.0f * (Wheel_Spacing + Alex_Spacing));\n\n \u002F\u002F 更新机器人的位置（假设机器人沿着y轴移动）\n\u002F\u002F this->x_position += this->vx * std::__math::cos(this->yaw) * this->dt; \n\u002F\u002F this->y_position += this->vy * std::__math::sin(this->yaw) * this->dt;\n this->x_position += this->vx * arm_cos_f32(this->yaw) * this->dt; \n this->y_position += this->vy * arm_sin_f32(this->yaw) * this->dt;\n this->yaw += this->vw * this->dt;\n\n \u002F\u002F 保证 yaw 始终在 -PI 到 PI 之间\n if(this->yaw > 3.14159265358979f) \n {\n this->yaw -= 2.0 * 3.14159265358979f;\n }\n if(this->yaw \u003C -3.14159265358979f) \n {\n this->yaw += 2.0 * 3.14159265358979f;\n }\n\n\u002F\u002F this->yaw_deg = this->yaw * 180.0f \u002F 3.14159265358979f;\n\n}\n\n","cpp",[30,636,637,646,653,658,665,671,677,681,686,690,695,700,708,713,720,725,732,736,763,768,782,817,822,827,870,875,880,885,944,991,995,1000,1005,1070,1075,1081,1087,1093,1129,1161,1181,1186,1192,1214,1219,1240,1245,1268,1273,1292,1297,1302,1308,1313],{"__ignoreMap":28},[33,638,639,643],{"class":35,"line":36},[33,640,642],{"class":641},"szBVR","#include",[33,644,645],{"class":43}," \"odom_mg513.h\"\n",[33,647,648,650],{"class":35,"line":267},[33,649,642],{"class":641},[33,651,652],{"class":43}," \"mg513_gmr500ppr.h\"\n",[33,654,655],{"class":35,"line":279},[33,656,657],{"class":263},"\u002F\u002F#include \u003Ccmath>\n",[33,659,660,662],{"class":35,"line":288},[33,661,642],{"class":641},[33,663,664],{"class":43}," \"arm_math.h\"\n",[33,666,667],{"class":35,"line":297},[33,668,670],{"emptyLinePlaceholder":669},true,"\n",[33,672,673],{"class":35,"line":309},[33,674,676],{"class":675},"sVt8B","ODOM_Motor odom_motor_;\n",[33,678,679],{"class":35,"line":315},[33,680,670],{"emptyLinePlaceholder":669},[33,682,683],{"class":35,"line":324},[33,684,685],{"class":263},"\u002F\u002F 坐标系满足右手坐标系\n",[33,687,688],{"class":35,"line":330},[33,689,670],{"emptyLinePlaceholder":669},[33,691,692],{"class":35,"line":339},[33,693,694],{"class":263},"\u002F\u002F（单位：米）\n",[33,696,697],{"class":35,"line":347},[33,698,699],{"class":263},"\u002F\u002F轮距\n",[33,701,702,705],{"class":35,"line":359},[33,703,704],{"class":641},"extern",[33,706,707],{"class":675}," fp32 Wheel_Spacing;\n",[33,709,710],{"class":35,"line":368},[33,711,712],{"class":263},"\u002F\u002F轴距\n",[33,714,715,717],{"class":35,"line":376},[33,716,704],{"class":641},[33,718,719],{"class":675}," fp32 Alex_Spacing;\n",[33,721,722],{"class":35,"line":384},[33,723,724],{"class":263},"\u002F\u002F轮子半径\n",[33,726,727,729],{"class":35,"line":396},[33,728,704],{"class":641},[33,730,731],{"class":675}," fp32 Wheel_Radius;\n",[33,733,734],{"class":35,"line":407},[33,735,670],{"emptyLinePlaceholder":669},[33,737,738,741,744,747,750,753,756,760],{"class":35,"line":417},[33,739,740],{"class":641},"void",[33,742,743],{"class":39}," ODOM_Motor",[33,745,746],{"class":675},"::",[33,748,749],{"class":39},"Analysis",[33,751,752],{"class":675},"(",[33,754,755],{"class":39},"fp32",[33,757,759],{"class":758},"s4XuR"," dt",[33,761,762],{"class":675},")\n",[33,764,765],{"class":35,"line":427},[33,766,767],{"class":675},"{\n",[33,769,770,773,776,779],{"class":35,"line":438},[33,771,772],{"class":53}," this",[33,774,775],{"class":675},"->dt ",[33,777,778],{"class":641},"=",[33,780,781],{"class":675}," dt;\n",[33,783,784,787,789,792,795,797,800,803,806,809,812,815],{"class":35,"line":447},[33,785,786],{"class":641}," for",[33,788,752],{"class":675},[33,790,791],{"class":641},"int16_t",[33,793,794],{"class":675}," i ",[33,796,778],{"class":641},[33,798,799],{"class":53}," 0",[33,801,802],{"class":675},";i ",[33,804,805],{"class":641},"\u003C",[33,807,808],{"class":53}," 4",[33,810,811],{"class":675},";i",[33,813,814],{"class":641},"++",[33,816,762],{"class":675},[33,818,819],{"class":35,"line":453},[33,820,821],{"class":675}," {\n",[33,823,824],{"class":35,"line":462},[33,825,826],{"class":263}," \u002F\u002F 将 RPM 转换为 m\u002Fs\n",[33,828,829,832,834,837,840,843,846,849,852,854,856,859,862,865,867],{"class":35,"line":470},[33,830,831],{"class":675}," encoder_wheel_velocities_[i] ",[33,833,778],{"class":641},[33,835,836],{"class":675}," mg513_gmr500ppr_motor[i].encoder.motor_data.motor_speed ",[33,838,839],{"class":641},"*",[33,841,842],{"class":53}," 2.0",[33,844,845],{"class":641},"f",[33,847,848],{"class":641}," *",[33,850,851],{"class":53}," 3.14159265358979",[33,853,845],{"class":641},[33,855,848],{"class":641},[33,857,858],{"class":675}," Wheel_Radius ",[33,860,861],{"class":641},"\u002F",[33,863,864],{"class":53}," 60.0",[33,866,845],{"class":641},[33,868,869],{"class":675},";\n",[33,871,872],{"class":35,"line":482},[33,873,874],{"class":675}," }\n",[33,876,877],{"class":35,"line":489},[33,878,879],{"class":263}," \u002F\u002F 计算机器人前进的线速度和角速度，公式不需要轮半径\n",[33,881,882],{"class":35,"line":496},[33,883,884],{"class":263}," \u002F\u002F线速度，四个轮子在机器人的运动学模型中贡献相同，所以要除以4\n",[33,886,887,890,893,895,898,901,904,907,910,913,915,918,920,923,925,927,929,932,935,937,940,942],{"class":35,"line":503},[33,888,889],{"class":53}," this",[33,891,892],{"class":675},"->vx ",[33,894,778],{"class":641},[33,896,897],{"class":675}," ( encoder_wheel_velocities_[",[33,899,900],{"class":53},"0",[33,902,903],{"class":675},"] ",[33,905,906],{"class":641},"+",[33,908,909],{"class":675}," encoder_wheel_velocities_[",[33,911,912],{"class":53},"1",[33,914,903],{"class":675},[33,916,917],{"class":641},"-",[33,919,909],{"class":675},[33,921,922],{"class":53},"2",[33,924,903],{"class":675},[33,926,917],{"class":641},[33,928,909],{"class":675},[33,930,931],{"class":53},"3",[33,933,934],{"class":675},"]) ",[33,936,861],{"class":641},[33,938,939],{"class":53}," 4.0",[33,941,845],{"class":641},[33,943,869],{"class":675},[33,945,946,948,951,953,955,957,959,961,963,965,967,969,971,973,975,977,979,981,983,985,987,989],{"class":35,"line":514},[33,947,889],{"class":53},[33,949,950],{"class":675},"->vy ",[33,952,778],{"class":641},[33,954,897],{"class":675},[33,956,900],{"class":53},[33,958,903],{"class":675},[33,960,917],{"class":641},[33,962,909],{"class":675},[33,964,912],{"class":53},[33,966,903],{"class":675},[33,968,917],{"class":641},[33,970,909],{"class":675},[33,972,922],{"class":53},[33,974,903],{"class":675},[33,976,906],{"class":641},[33,978,909],{"class":675},[33,980,931],{"class":53},[33,982,934],{"class":675},[33,984,861],{"class":641},[33,986,939],{"class":53},[33,988,845],{"class":641},[33,990,869],{"class":675},[33,992,993],{"class":35,"line":521},[33,994,670],{"emptyLinePlaceholder":669},[33,996,997],{"class":35,"line":528},[33,998,999],{"class":263}," \u002F\u002F线速度，轮距（wheel_spacing） 决定了左右轮对旋转的贡献程度，轴距（alex_spacing） 决定了前后轮对旋转的贡献程度，\n",[33,1001,1002],{"class":35,"line":535},[33,1003,1004],{"class":263}," \u002F\u002F所以要除以底盘尺寸，alex_spacing + wheel_spacing 是底盘尺寸。\n",[33,1006,1008,1010,1013,1015,1018,1020,1023,1025,1027,1029,1031,1033,1035,1037,1039,1041,1043,1045,1047,1049,1051,1053,1055,1058,1060,1062,1065,1067],{"class":35,"line":1007},33,[33,1009,889],{"class":53},[33,1011,1012],{"class":675},"->vw ",[33,1014,778],{"class":641},[33,1016,1017],{"class":675}," (",[33,1019,917],{"class":641},[33,1021,1022],{"class":675},"encoder_wheel_velocities_[",[33,1024,900],{"class":53},[33,1026,903],{"class":675},[33,1028,917],{"class":641},[33,1030,909],{"class":675},[33,1032,912],{"class":53},[33,1034,903],{"class":675},[33,1036,917],{"class":641},[33,1038,909],{"class":675},[33,1040,922],{"class":53},[33,1042,903],{"class":675},[33,1044,917],{"class":641},[33,1046,909],{"class":675},[33,1048,931],{"class":53},[33,1050,934],{"class":675},[33,1052,861],{"class":641},[33,1054,1017],{"class":675},[33,1056,1057],{"class":53},"4.0",[33,1059,845],{"class":641},[33,1061,848],{"class":641},[33,1063,1064],{"class":675}," (Wheel_Spacing ",[33,1066,906],{"class":641},[33,1068,1069],{"class":675}," Alex_Spacing));\n",[33,1071,1073],{"class":35,"line":1072},34,[33,1074,670],{"emptyLinePlaceholder":669},[33,1076,1078],{"class":35,"line":1077},35,[33,1079,1080],{"class":263}," \u002F\u002F 更新机器人的位置（假设机器人沿着y轴移动）\n",[33,1082,1084],{"class":35,"line":1083},36,[33,1085,1086],{"class":263},"\u002F\u002F this->x_position += this->vx * std::__math::cos(this->yaw) * this->dt; \n",[33,1088,1090],{"class":35,"line":1089},37,[33,1091,1092],{"class":263},"\u002F\u002F this->y_position += this->vy * std::__math::sin(this->yaw) * this->dt;\n",[33,1094,1096,1098,1101,1104,1107,1109,1111,1114,1116,1119,1122,1124,1126],{"class":35,"line":1095},38,[33,1097,889],{"class":53},[33,1099,1100],{"class":675},"->x_position ",[33,1102,1103],{"class":641},"+=",[33,1105,1106],{"class":53}," this",[33,1108,892],{"class":675},[33,1110,839],{"class":641},[33,1112,1113],{"class":39}," arm_cos_f32",[33,1115,752],{"class":675},[33,1117,1118],{"class":53},"this",[33,1120,1121],{"class":675},"->yaw) ",[33,1123,839],{"class":641},[33,1125,1106],{"class":53},[33,1127,1128],{"class":675},"->dt; \n",[33,1130,1132,1134,1137,1139,1141,1143,1145,1148,1150,1152,1154,1156,1158],{"class":35,"line":1131},39,[33,1133,889],{"class":53},[33,1135,1136],{"class":675},"->y_position ",[33,1138,1103],{"class":641},[33,1140,1106],{"class":53},[33,1142,950],{"class":675},[33,1144,839],{"class":641},[33,1146,1147],{"class":39}," arm_sin_f32",[33,1149,752],{"class":675},[33,1151,1118],{"class":53},[33,1153,1121],{"class":675},[33,1155,839],{"class":641},[33,1157,1106],{"class":53},[33,1159,1160],{"class":675},"->dt;\n",[33,1162,1164,1166,1169,1171,1173,1175,1177,1179],{"class":35,"line":1163},40,[33,1165,889],{"class":53},[33,1167,1168],{"class":675},"->yaw ",[33,1170,1103],{"class":641},[33,1172,1106],{"class":53},[33,1174,1012],{"class":675},[33,1176,839],{"class":641},[33,1178,1106],{"class":53},[33,1180,1160],{"class":675},[33,1182,1184],{"class":35,"line":1183},41,[33,1185,670],{"emptyLinePlaceholder":669},[33,1187,1189],{"class":35,"line":1188},42,[33,1190,1191],{"class":263}," \u002F\u002F 保证 yaw 始终在 -PI 到 PI 之间\n",[33,1193,1195,1198,1200,1202,1204,1207,1209,1211],{"class":35,"line":1194},43,[33,1196,1197],{"class":641}," if",[33,1199,752],{"class":675},[33,1201,1118],{"class":53},[33,1203,1168],{"class":675},[33,1205,1206],{"class":641},">",[33,1208,851],{"class":53},[33,1210,845],{"class":641},[33,1212,1213],{"class":675},") \n",[33,1215,1217],{"class":35,"line":1216},44,[33,1218,821],{"class":675},[33,1220,1222,1225,1227,1230,1232,1234,1236,1238],{"class":35,"line":1221},45,[33,1223,1224],{"class":53}," this",[33,1226,1168],{"class":675},[33,1228,1229],{"class":641},"-=",[33,1231,842],{"class":53},[33,1233,848],{"class":641},[33,1235,851],{"class":53},[33,1237,845],{"class":641},[33,1239,869],{"class":675},[33,1241,1243],{"class":35,"line":1242},46,[33,1244,874],{"class":675},[33,1246,1248,1250,1252,1254,1256,1258,1261,1264,1266],{"class":35,"line":1247},47,[33,1249,1197],{"class":641},[33,1251,752],{"class":675},[33,1253,1118],{"class":53},[33,1255,1168],{"class":675},[33,1257,805],{"class":641},[33,1259,1260],{"class":641}," -",[33,1262,1263],{"class":53},"3.14159265358979",[33,1265,845],{"class":641},[33,1267,1213],{"class":675},[33,1269,1271],{"class":35,"line":1270},48,[33,1272,821],{"class":675},[33,1274,1276,1278,1280,1282,1284,1286,1288,1290],{"class":35,"line":1275},49,[33,1277,1224],{"class":53},[33,1279,1168],{"class":675},[33,1281,1103],{"class":641},[33,1283,842],{"class":53},[33,1285,848],{"class":641},[33,1287,851],{"class":53},[33,1289,845],{"class":641},[33,1291,869],{"class":675},[33,1293,1295],{"class":35,"line":1294},50,[33,1296,874],{"class":675},[33,1298,1300],{"class":35,"line":1299},51,[33,1301,670],{"emptyLinePlaceholder":669},[33,1303,1305],{"class":35,"line":1304},52,[33,1306,1307],{"class":263},"\u002F\u002F this->yaw_deg = this->yaw * 180.0f \u002F 3.14159265358979f;\n",[33,1309,1311],{"class":35,"line":1310},53,[33,1312,670],{"emptyLinePlaceholder":669},[33,1314,1316],{"class":35,"line":1315},54,[33,1317,1318],{"class":675},"}\n",[16,1320,1321],{},"ROS2总代码如下：",[23,1323,1325],{"className":632,"code":1324,"language":634,"meta":28,"style":28},"#include \"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n#include \u003Cchrono>\n#include \u003Cfunctional>\n#include \u003Crclcpp\u002Flogging.hpp>\n#include \u003Cstring>\n#include \"sensor04_odom_kc\u002Fserial_pack.h\"\n#include \"geometry_msgs\u002Fmsg\u002Ftwist.hpp\"\n#include \"nav_msgs\u002Fmsg\u002Fodometry.hpp\"\n#include \u003Ctf2\u002FLinearMath\u002FQuaternion.h>\n#include \u003Ctf2_ros\u002Ftransform_broadcaster.h>\n\nextern std::vector\u003Cuint8_t> tx_data_buffer;\n\nclass Odom_KC_Node : public rclcpp::Node\n{\npublic:\n Odom_KC_Node() : Node(\"Odom_KC_Node\")\n {\n \u002F\u002F 声明参数（带默认值）\n \u002F\u002F 串口设备默认名（根据实际设备调整）\n this->declare_parameter(\"device_name\", \"\u002Fdev\u002FttyACM1\");\n \u002F\u002F串口默认波特率\n this->declare_parameter(\"baud_rate\", 115200);\n\n \u002F\u002F 获取参数值\n const std::string device_name = this->get_parameter(\"device_name\").as_string();\n const uint32_t baud_rate = this->get_parameter(\"baud_rate\").as_int();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率默认115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n baud_rate,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F串口发布方\n odom_pub_ = this->create_publisher\u003Cnav_msgs::msg::Odometry>(\"odom\",10);\n\n \u002F\u002F初始化tf广播器\n tf_broadcaster_ = std::make_unique\u003Ctf2_ros::TransformBroadcaster>(*this);\n\n \u002F\u002F初始化cmd_vel消息订阅\n cmd_vel_sub_ = this->create_subscription\u003Cgeometry_msgs::msg::Twist>(\"cmd_vel\",10,std::bind(&Odom_KC_Node::cmd_vel_sub_callback,this,std::placeholders::_1));\n\n async_receive_message(); \u002F\u002F进入异步接收\n }\n\nprivate:\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> io_context_;\n\n rclcpp::Publisher\u003Cnav_msgs::msg::Odometry>::SharedPtr odom_pub_;\n std::unique_ptr\u003Ctf2_ros::TransformBroadcaster> tf_broadcaster_;\n\n rclcpp::Subscription\u003Cgeometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;\n\n \u002F\u002F \u002F\u002F 四个轮子的速度(对应单片机的顺序)（单位：rpm）\n \u002F\u002F fp32 received_encoder_wheel_velocities_[4] = {0.0, 0.0, 0.0, 0.0};\n \u002F\u002F \u002F\u002F 四个轮子的速度(对应单片机的顺序)（单位：m\u002Fs）\n \u002F\u002F fp32 encoder_wheel_velocities_[4] = {0.0, 0.0, 0.0, 0.0}; \n\n \u002F\u002F \u002F\u002F 四个轮子的速度(对应单片机的顺序)（单位：2000pc）\n \u002F\u002F fp32 received_encoder_wheel_angle_[4] = {0.0, 0.0, 0.0, 0.0};\n\n \u002F\u002F麦克纳姆轮底盘参数\n const fp32 wheel_spacing = 0.093; \u002F\u002F 轮间距（单位：米）\n const fp32 alex_spacing = 0.085; \u002F\u002F 轮距（单位：米）\n const fp32 wheel_radius_ = 0.0375; \u002F\u002F 轮子半径（单位：米）\n\n fp32 vy=0.0,vx=0.0,vw=0.0;\n fp32 yaw_ = 0.0; \u002F\u002F 机器人航向角（单位：弧度）\n fp32 dt_;\n\n fp32 x_position_ = 0.0; \u002F\u002F x位置\n fp32 y_position_ = 0.0; \u002F\u002F y位置\n\n void async_receive_message() \u002F\u002F创建一个函数更方便重新调用\n {\n auto port = serial_driver_->port();\n\n \u002F\u002F 设置接收回调函数\n port->async_receive([this](const std::vector\u003Cuint8_t> &data,const size_t &size) \n {\n \u002F\u002F创建odom消息类型\n auto odom_msg = nav_msgs::msg::Odometry();\n\n if (size > 0)\n {\n for(int16_t i = 0;i \u003C (int16_t)size;++i)\n {\n uint8_t data_buffer = data[i];\n \u002F\u002F 处理接收到的数据\n serial_pack_.rx.Data_Analysis(\n &data_buffer,\n 0x01,\n 0,\n 0,\n 0,\n 0,\n 8);\n }\n \u002F\u002F由于在ROS2中，node是局部变量，所以发布方只能在node类里，故Data_Apply不写任何东西，直接在接收下面的回调函数里实现功能。\n if(serial_pack_.rx.data.cmd == 0x01)\n {\n RCLCPP_DEBUG(this->get_logger(), \"\\n\");\n RCLCPP_DEBUG(this->get_logger(), \"以下是电机编码器的odom数据：\");\n\n \u002F\u002F \u002F\u002F 存储电机速度数据\n \u002F\u002F received_encoder_wheel_velocities_[0] = serial_pack_.rx.data.fp32_buffer[0]; \u002F\u002F 电机 0 速度\n \u002F\u002F received_encoder_wheel_velocities_[1] = serial_pack_.rx.data.fp32_buffer[1]; \u002F\u002F 电机 1 速度\n \u002F\u002F received_encoder_wheel_velocities_[2] = serial_pack_.rx.data.fp32_buffer[2]; \u002F\u002F 电机 2 速度\n \u002F\u002F received_encoder_wheel_velocities_[3] = serial_pack_.rx.data.fp32_buffer[3]; \u002F\u002F 电机 3 速度\n\n \u002F\u002F \u002F\u002F 存储电机位置数据\n \u002F\u002F received_encoder_wheel_angle_[0] = serial_pack_.rx.data.fp32_buffer[4]; \u002F\u002F 电机 0 位置\n \u002F\u002F received_encoder_wheel_angle_[1] = serial_pack_.rx.data.fp32_buffer[5]; \u002F\u002F 电机 1 位置\n \u002F\u002F received_encoder_wheel_angle_[2] = serial_pack_.rx.data.fp32_buffer[6]; \u002F\u002F 电机 2 位置\n \u002F\u002F received_encoder_wheel_angle_[3] = serial_pack_.rx.data.fp32_buffer[7]; \u002F\u002F 电机 3 位置\n\n \u002F\u002F vx = serial_pack_.rx.data.fp32_buffer[8];\n \u002F\u002F vy = serial_pack_.rx.data.fp32_buffer[9];\n \u002F\u002F vw = serial_pack_.rx.data.fp32_buffer[10];\n \u002F\u002F yaw_ = serial_pack_.rx.data.fp32_buffer[11];\n \u002F\u002F dt_ = serial_pack_.rx.data.fp32_buffer[12];\n \u002F\u002F x_position_ = serial_pack_.rx.data.fp32_buffer[13];\n \u002F\u002F y_position_ = serial_pack_.rx.data.fp32_buffer[14];\n\n vx = serial_pack_.rx.data.fp32_buffer[0];\n vy = serial_pack_.rx.data.fp32_buffer[1];\n vw = serial_pack_.rx.data.fp32_buffer[2];\n yaw_ = serial_pack_.rx.data.fp32_buffer[3];\n dt_ = serial_pack_.rx.data.fp32_buffer[4];\n x_position_ = serial_pack_.rx.data.fp32_buffer[5];\n y_position_ = serial_pack_.rx.data.fp32_buffer[6];\n\n \u002F\u002F 打印电机速度和位置（角度）\n for (int i = 0; i \u003C 4; ++i) \n {\n \u002F\u002F RCLCPP_DEBUG(this->get_logger(), \"%d号电机的速度: %.6f RPM, 位置: %.6f (2000pc)\",\n \u002F\u002F i, received_encoder_wheel_velocities_[i], received_encoder_wheel_angle_[i]);\n\n RCLCPP_DEBUG(this->get_logger(),\"线速度:x:%.6f,y:%.6f,z:%.6f\",vx,vy,0.0f);\n RCLCPP_DEBUG(this->get_logger(),\"角速度:x:%.6f,y:%.6f,z:%.6f\",0.0f,0.0f,vw);\n RCLCPP_DEBUG(this->get_logger(),\"欧拉角(逆正顺负):r:%.6f,p:%.6f,y:%.6f\",0.0f,0.0f,yaw_);\n RCLCPP_DEBUG(this->get_logger(),\"积分间隔:%.6f\",dt_);\n RCLCPP_DEBUG(this->get_logger(),\"右手坐标系X坐标(前正后负):%.6f\",x_position_);\n RCLCPP_DEBUG(this->get_logger(),\"右手坐标系Y坐标(左正右负):%.6f\",y_position_);\n }\n\n \u002F\u002F时间戳\n odom_msg.header.stamp = this->get_clock()->now();\n\n \u002F\u002F位姿信息所参考的坐标系\n odom_msg.header.frame_id = \"odom\";\n\n \u002F\u002F 设置child_frame_id（底盘坐标系）\n odom_msg.child_frame_id = \"base_link\"; \u002F\u002F 设置子坐标系为机器人底盘坐标系\n\n \u002F\u002FDOF平动位置\n odom_msg.pose.pose.position.x = x_position_;\n odom_msg.pose.pose.position.y = y_position_;\n odom_msg.pose.pose.position.z = 0.0;\n\n \u002F\u002F从欧拉角转换为四元数\n tf2::Quaternion q;\n q.setRPY(0,0,yaw_);\n \u002F\u002FDOF转动（四元数）\n odom_msg.pose.pose.orientation.x = q.x();\n odom_msg.pose.pose.orientation.y = q.y();\n odom_msg.pose.pose.orientation.z = q.z();\n odom_msg.pose.pose.orientation.w = q.w();\n\n \u002F\u002F线速度\n odom_msg.twist.twist.linear.x = vx;\n odom_msg.twist.twist.linear.y = vy;\n odom_msg.twist.twist.linear.z = 0.0;\n\n \u002F\u002F角速度\n odom_msg.twist.twist.angular.x = 0.0;\n odom_msg.twist.twist.angular.y = 0.0;\n odom_msg.twist.twist.angular.z = vw;\n\n \u002F\u002F 发布消息\n odom_pub_->publish(odom_msg);\n\n \u002F\u002F 打印位置（XYZ）\n RCLCPP_DEBUG(\n this->get_logger(),\n \"位置Position(XYZ): %.6f, %.6f, %.6f\",\n odom_msg.pose.pose.position.x,\n odom_msg.pose.pose.position.y,\n odom_msg.pose.pose.position.z\n );\n\n \u002F\u002F 打印姿态（四元数WXYZ）\n RCLCPP_DEBUG(\n this->get_logger(),\n \"姿态Orientation(WXYZ): %.6f, %.6f, %.6f, %.6f\",\n odom_msg.pose.pose.orientation.w, \u002F\u002F 注意顺序：WXYZ\n odom_msg.pose.pose.orientation.x,\n odom_msg.pose.pose.orientation.y,\n odom_msg.pose.pose.orientation.z\n );\n\n \u002F\u002F 打印姿态（欧拉角RPY）\n RCLCPP_DEBUG(\n this->get_logger(),\n \"欧拉角Euler(RPY): %.6f, %.6f, %.6f\",\n 0.0,\n 0.0,\n yaw_\n );\n\n \u002F\u002F 打印线速度（XYZ）\n RCLCPP_DEBUG(\n this->get_logger(),\n \"线速度LinearVel(XYZ): %.6f, %.6f, %.6f\",\n odom_msg.twist.twist.linear.x,\n odom_msg.twist.twist.linear.y,\n odom_msg.twist.twist.linear.z\n );\n\n \u002F\u002F 打印角速度（XYZ）\n RCLCPP_DEBUG(\n this->get_logger(),\n \"角速度AngularVel(XYZ): %.6f, %.6f, %.6f\",\n odom_msg.twist.twist.angular.x,\n odom_msg.twist.twist.angular.y,\n odom_msg.twist.twist.angular.z\n );\n\n \u002F* 接下来发布tf *\u002F\n auto transform = geometry_msgs::msg::TransformStamped();\n transform.header.stamp = odom_msg.header.stamp; \u002F\u002F 时间戳与odom同步\n transform.header.frame_id = \"odom\";\n transform.child_frame_id = \"base_link\";\n transform.transform.translation.x = x_position_;\n transform.transform.translation.y = y_position_;\n transform.transform.translation.z = 0.0;\n transform.transform.rotation = odom_msg.pose.pose.orientation; \u002F\u002F 复用四元数\n tf_broadcaster_->sendTransform(transform);\n }\n\n }\n \u002F\u002F 继续监听新的数据\n async_receive_message();\n }\n );\n }\n\n void cmd_vel_sub_callback(const geometry_msgs::msg::Twist &cmd_msg)\n {\n \u002F\u002F bool bool_buffer[] = {1, 0, 1, 0};\n \u002F\u002F int8_t int8_buffer[] = {0x11,0x22};\n \u002F\u002F int16_t int16_buffer[] = {2000,6666};\n \u002F\u002F int32_t int32_buffer[] = {305419896};\n fp32 fp32_buffer[] = {(fp32)cmd_msg.linear.x,(fp32)cmd_msg.linear.y,(fp32)cmd_msg.linear.z,\n (fp32)cmd_msg.angular.x,(fp32)cmd_msg.angular.y,(fp32)cmd_msg.angular.z};\n\n \u002F\u002F由于ROS2中node为局部变量，所以只能在node中调用send函数，所以Serial_Transmit只负责处理data_buffer。\n serial_pack_.tx.Data_Pack(0x01, \n nullptr, 0,\n nullptr, 0,\n nullptr, 0,\n nullptr, 0,\n fp32_buffer, sizeof(fp32_buffer) \u002F sizeof(fp32));\n\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_size = port->send(tx_data_buffer);\n\n RCLCPP_DEBUG(this->get_logger(), \"平动XYZ：%.6f,%.6f,%.6f\", fp32_buffer[0],fp32_buffer[1],fp32_buffer[2]);\n RCLCPP_DEBUG(this->get_logger(), \"转动XYZ：%.6f,%.6f,%.6f\", fp32_buffer[3],fp32_buffer[4],fp32_buffer[5]);\n RCLCPP_DEBUG(this->get_logger(), \"(%ld bytes)\", bytes_size);\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n }\n }\n};\n\nint main(int argc, char **argv)\n{\n rclcpp::init(argc, argv);\n\n auto node = std::make_shared\u003COdom_KC_Node>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 0;\n}\n",[30,1326,1327,1334,1341,1348,1355,1362,1369,1376,1383,1390,1397,1404,1408,1424,1428,1449,1453,1458,1476,1481,1486,1491,1515,1520,1540,1544,1549,1581,1610,1614,1636,1641,1646,1665,1670,1687,1702,1718,1722,1727,1732,1736,1772,1777,1810,1821,1836,1840,1860,1907,1937,1941,1962,1966,1996,2004,2009,2014,2020,2061,2066,2072,2105,2110,2116,2186,2191,2203,2209,2214,2220,2245,2268,2273,2300,2320,2325,2351,2356,2365,2371,2379,2385,2390,2398,2404,2409,2415,2435,2453,2471,2476,2503,2519,2525,2530,2545,2560,2565,2580,2585,2603,2608,2614,2668,2673,2679,2702,2707,2722,2728,2760,2766,2780,2786,2797,2806,2818,2826,2833,2840,2847,2855,2861,2867,2886,2891,2916,2936,2941,2950,2959,2968,2977,2986,2991,2999,3008,3017,3026,3035,3040,3046,3052,3058,3064,3070,3076,3082,3087,3103,3117,3131,3145,3160,3175,3190,3195,3201,3233,3239,3245,3251,3256,3300,3345,3391,3416,3441,3466,3472,3477,3483,3505,3510,3516,3529,3534,3540,3556,3561,3567,3578,3589,3601,3606,3612,3621,3640,3646,3662,3677,3692,3707,3712,3718,3729,3740,3752,3757,3763,3775,3787,3798,3803,3809,3821,3826,3832,3839,3852,3872,3878,3884,3890,3896,3901,3907,3914,3925,3949,3958,3964,3970,3976,3981,3986,3992,3999,4010,4030,4038,4045,4051,4056,4061,4067,4074,4085,4105,4111,4117,4123,4128,4133,4139,4146,4157,4177,4183,4189,4195,4200,4205,4211,4235,4249,4261,4273,4283,4293,4305,4319,4331,4336,4341,4347,4353,4361,4366,4372,4377,4382,4411,4416,4422,4428,4434,4440,4451,4457,4462,4468,4487,4499,4510,4521,4532,4552,4557,4572,4577,4582,4587,4607,4612,4660,4704,4731,4736,4753,4758,4787,4792,4797,4803,4808,4836,4841,4854,4859,4883,4888,4901,4906,4918,4928],{"__ignoreMap":28},[33,1328,1329,1331],{"class":35,"line":36},[33,1330,642],{"class":641},[33,1332,1333],{"class":43}," 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odom_pub_;\n",[33,2301,2303,2305,2308,2310,2312,2315,2317],{"class":35,"line":2302},75,[33,2304,2225],{"class":39},[33,2306,2307],{"class":675},"::unique_ptr",[33,2309,805],{"class":641},[33,2311,2091],{"class":39},[33,2313,2314],{"class":675},"::TransformBroadcaster",[33,2316,1206],{"class":641},[33,2318,2319],{"class":675}," tf_broadcaster_;\n",[33,2321,2323],{"class":35,"line":2322},76,[33,2324,670],{"emptyLinePlaceholder":669},[33,2326,2328,2330,2332,2335,2337,2339,2341,2343,2345,2348],{"class":35,"line":2327},77,[33,2329,2278],{"class":39},[33,2331,746],{"class":675},[33,2333,2334],{"class":39},"Subscription",[33,2336,805],{"class":675},[33,2338,2133],{"class":39},[33,2340,746],{"class":675},[33,2342,2042],{"class":39},[33,2344,746],{"class":675},[33,2346,2347],{"class":39},"Twist",[33,2349,2350],{"class":675},">::SharedPtr cmd_vel_sub_;\n",[33,2352,2354],{"class":35,"line":2353},78,[33,2355,670],{"emptyLinePlaceholder":669},[33,2357,2359,2362],{"class":35,"line":2358},79,[33,2360,2361],{"class":263}," \u002F\u002F",[33,2363,2364],{"class":263}," \u002F\u002F 四个轮子的速度(对应单片机的顺序)（单位：rpm）\n",[33,2366,2368],{"class":35,"line":2367},80,[33,2369,2370],{"class":263}," \u002F\u002F fp32 received_encoder_wheel_velocities_[4] = {0.0, 0.0, 0.0, 0.0};\n",[33,2372,2374,2376],{"class":35,"line":2373},81,[33,2375,2361],{"class":263},[33,2377,2378],{"class":263}," \u002F\u002F 四个轮子的速度(对应单片机的顺序)（单位：m\u002Fs）\n",[33,2380,2382],{"class":35,"line":2381},82,[33,2383,2384],{"class":263}," \u002F\u002F fp32 encoder_wheel_velocities_[4] = {0.0, 0.0, 0.0, 0.0}; \n",[33,2386,2388],{"class":35,"line":2387},83,[33,2389,670],{"emptyLinePlaceholder":669},[33,2391,2393,2395],{"class":35,"line":2392},84,[33,2394,2361],{"class":263},[33,2396,2397],{"class":263}," \u002F\u002F 四个轮子的速度(对应单片机的顺序)（单位：2000pc）\n",[33,2399,2401],{"class":35,"line":2400},85,[33,2402,2403],{"class":263}," \u002F\u002F fp32 received_encoder_wheel_angle_[4] = {0.0, 0.0, 0.0, 0.0};\n",[33,2405,2407],{"class":35,"line":2406},86,[33,2408,670],{"emptyLinePlaceholder":669},[33,2410,2412],{"class":35,"line":2411},87,[33,2413,2414],{"class":263}," \u002F\u002F麦克纳姆轮底盘参数\n",[33,2416,2418,2421,2424,2426,2429,2432],{"class":35,"line":2417},88,[33,2419,2420],{"class":641}," const",[33,2422,2423],{"class":675}," fp32 wheel_spacing ",[33,2425,778],{"class":641},[33,2427,2428],{"class":53}," 0.093",[33,2430,2431],{"class":675},";",[33,2433,2434],{"class":263}," \u002F\u002F 轮间距（单位：米）\n",[33,2436,2438,2440,2443,2445,2448,2450],{"class":35,"line":2437},89,[33,2439,2420],{"class":641},[33,2441,2442],{"class":675}," fp32 alex_spacing ",[33,2444,778],{"class":641},[33,2446,2447],{"class":53}," 0.085",[33,2449,2431],{"class":675},[33,2451,2452],{"class":263}," \u002F\u002F 轮距（单位：米）\n",[33,2454,2456,2458,2461,2463,2466,2468],{"class":35,"line":2455},90,[33,2457,2420],{"class":641},[33,2459,2460],{"class":675}," fp32 wheel_radius_ ",[33,2462,778],{"class":641},[33,2464,2465],{"class":53}," 0.0375",[33,2467,2431],{"class":675},[33,2469,2470],{"class":263}," \u002F\u002F 轮子半径（单位：米）\n",[33,2472,2474],{"class":35,"line":2473},91,[33,2475,670],{"emptyLinePlaceholder":669},[33,2477,2479,2482,2484,2487,2490,2492,2494,2497,2499,2501],{"class":35,"line":2478},92,[33,2480,2481],{"class":675}," fp32 vy",[33,2483,778],{"class":641},[33,2485,2486],{"class":53},"0.0",[33,2488,2489],{"class":675},",vx",[33,2491,778],{"class":641},[33,2493,2486],{"class":53},[33,2495,2496],{"class":675},",vw",[33,2498,778],{"class":641},[33,2500,2486],{"class":53},[33,2502,869],{"class":675},[33,2504,2506,2509,2511,2514,2516],{"class":35,"line":2505},93,[33,2507,2508],{"class":675}," fp32 yaw_ ",[33,2510,778],{"class":641},[33,2512,2513],{"class":53}," 0.0",[33,2515,2431],{"class":675},[33,2517,2518],{"class":263}," \u002F\u002F 机器人航向角（单位：弧度）\n",[33,2520,2522],{"class":35,"line":2521},94,[33,2523,2524],{"class":675}," fp32 dt_;\n",[33,2526,2528],{"class":35,"line":2527},95,[33,2529,670],{"emptyLinePlaceholder":669},[33,2531,2533,2536,2538,2540,2542],{"class":35,"line":2532},96,[33,2534,2535],{"class":675}," fp32 x_position_ ",[33,2537,778],{"class":641},[33,2539,2513],{"class":53},[33,2541,2431],{"class":675},[33,2543,2544],{"class":263}," \u002F\u002F x位置\n",[33,2546,2548,2551,2553,2555,2557],{"class":35,"line":2547},97,[33,2549,2550],{"class":675}," fp32 y_position_ ",[33,2552,778],{"class":641},[33,2554,2513],{"class":53},[33,2556,2431],{"class":675},[33,2558,2559],{"class":263}," \u002F\u002F y位置\n",[33,2561,2563],{"class":35,"line":2562},98,[33,2564,670],{"emptyLinePlaceholder":669},[33,2566,2568,2571,2574,2577],{"class":35,"line":2567},99,[33,2569,2570],{"class":641}," void",[33,2572,2573],{"class":39}," async_receive_message",[33,2575,2576],{"class":675},"()",[33,2578,2579],{"class":263}," \u002F\u002F创建一个函数更方便重新调用\n",[33,2581,2583],{"class":35,"line":2582},100,[33,2584,1480],{"class":675},[33,2586,2588,2591,2594,2596,2599,2601],{"class":35,"line":2587},101,[33,2589,2590],{"class":641}," auto",[33,2592,2593],{"class":675}," port ",[33,2595,778],{"class":641},[33,2597,2598],{"class":675}," serial_driver_->",[33,2600,1827],{"class":39},[33,2602,1580],{"class":675},[33,2604,2606],{"class":35,"line":2605},102,[33,2607,670],{"emptyLinePlaceholder":669},[33,2609,2611],{"class":35,"line":2610},103,[33,2612,2613],{"class":263}," \u002F\u002F 设置接收回调函数\n",[33,2615,2617,2620,2623,2626,2628,2631,2633,2635,2637,2640,2642,2645,2648,2650,2653,2655,2657,2660,2663,2666],{"class":35,"line":2616},104,[33,2618,2619],{"class":675}," port->",[33,2621,2622],{"class":39},"async_receive",[33,2624,2625],{"class":675},"([",[33,2627,1118],{"class":53},[33,2629,2630],{"class":675},"](",[33,2632,1950],{"class":641},[33,2634,1414],{"class":39},[33,2636,746],{"class":675},[33,2638,2639],{"class":39},"vector",[33,2641,805],{"class":675},[33,2643,2644],{"class":641},"uint8_t",[33,2646,2647],{"class":675},"> ",[33,2649,1958],{"class":641},[33,2651,2652],{"class":758},"data",[33,2654,2055],{"class":675},[33,2656,1950],{"class":641},[33,2658,2659],{"class":641}," size_t",[33,2661,2662],{"class":641}," &",[33,2664,2665],{"class":758},"size",[33,2667,1213],{"class":675},[33,2669,2671],{"class":35,"line":2670},105,[33,2672,821],{"class":675},[33,2674,2676],{"class":35,"line":2675},106,[33,2677,2678],{"class":263}," \u002F\u002F创建odom消息类型\n",[33,2680,2682,2685,2688,2690,2692,2694,2696,2698,2700],{"class":35,"line":2681},107,[33,2683,2684],{"class":641}," auto",[33,2686,2687],{"class":675}," odom_msg ",[33,2689,778],{"class":641},[33,2691,66],{"class":39},[33,2693,746],{"class":675},[33,2695,2042],{"class":39},[33,2697,746],{"class":675},[33,2699,2296],{"class":39},[33,2701,1580],{"class":675},[33,2703,2705],{"class":35,"line":2704},108,[33,2706,670],{"emptyLinePlaceholder":669},[33,2708,2710,2713,2716,2718,2720],{"class":35,"line":2709},109,[33,2711,2712],{"class":641}," if",[33,2714,2715],{"class":675}," (size ",[33,2717,1206],{"class":641},[33,2719,799],{"class":53},[33,2721,762],{"class":675},[33,2723,2725],{"class":35,"line":2724},110,[33,2726,2727],{"class":675}," {\n",[33,2729,2731,2734,2736,2738,2740,2742,2744,2746,2748,2750,2752,2755,2757],{"class":35,"line":2730},111,[33,2732,2733],{"class":641}," for",[33,2735,752],{"class":675},[33,2737,791],{"class":641},[33,2739,794],{"class":675},[33,2741,778],{"class":641},[33,2743,799],{"class":53},[33,2745,802],{"class":675},[33,2747,805],{"class":641},[33,2749,1017],{"class":675},[33,2751,791],{"class":641},[33,2753,2754],{"class":675},")size;",[33,2756,814],{"class":641},[33,2758,2759],{"class":675},"i)\n",[33,2761,2763],{"class":35,"line":2762},112,[33,2764,2765],{"class":675}," {\n",[33,2767,2769,2772,2775,2777],{"class":35,"line":2768},113,[33,2770,2771],{"class":641}," uint8_t",[33,2773,2774],{"class":675}," data_buffer ",[33,2776,778],{"class":641},[33,2778,2779],{"class":675}," data[i];\n",[33,2781,2783],{"class":35,"line":2782},114,[33,2784,2785],{"class":263}," \u002F\u002F 处理接收到的数据\n",[33,2787,2789,2792,2795],{"class":35,"line":2788},115,[33,2790,2791],{"class":675}," serial_pack_.rx.",[33,2793,2794],{"class":39},"Data_Analysis",[33,2796,1664],{"class":675},[33,2798,2800,2803],{"class":35,"line":2799},116,[33,2801,2802],{"class":641}," &",[33,2804,2805],{"class":675},"data_buffer,\n",[33,2807,2809,2812,2815],{"class":35,"line":2808},117,[33,2810,2811],{"class":641}," 0x",[33,2813,2814],{"class":53},"01",[33,2816,2817],{"class":675},",\n",[33,2819,2821,2824],{"class":35,"line":2820},118,[33,2822,2823],{"class":53}," 0",[33,2825,2817],{"class":675},[33,2827,2829,2831],{"class":35,"line":2828},119,[33,2830,2823],{"class":53},[33,2832,2817],{"class":675},[33,2834,2836,2838],{"class":35,"line":2835},120,[33,2837,2823],{"class":53},[33,2839,2817],{"class":675},[33,2841,2843,2845],{"class":35,"line":2842},121,[33,2844,2823],{"class":53},[33,2846,2817],{"class":675},[33,2848,2850,2853],{"class":35,"line":2849},122,[33,2851,2852],{"class":53}," 8",[33,2854,1514],{"class":675},[33,2856,2858],{"class":35,"line":2857},123,[33,2859,2860],{"class":675}," }\n",[33,2862,2864],{"class":35,"line":2863},124,[33,2865,2866],{"class":263}," \u002F\u002F由于在ROS2中，node是局部变量，所以发布方只能在node类里，故Data_Apply不写任何东西，直接在接收下面的回调函数里实现功能。\n",[33,2868,2870,2873,2876,2879,2882,2884],{"class":35,"line":2869},125,[33,2871,2872],{"class":641}," if",[33,2874,2875],{"class":675},"(serial_pack_.rx.data.cmd ",[33,2877,2878],{"class":641},"==",[33,2880,2881],{"class":641}," 0x",[33,2883,2814],{"class":53},[33,2885,762],{"class":675},[33,2887,2889],{"class":35,"line":2888},126,[33,2890,2765],{"class":675},[33,2892,2894,2897,2899,2901,2903,2905,2907,2909,2912,2914],{"class":35,"line":2893},127,[33,2895,2896],{"class":39}," RCLCPP_DEBUG",[33,2898,752],{"class":675},[33,2900,1118],{"class":53},[33,2902,1497],{"class":675},[33,2904,1627],{"class":39},[33,2906,1630],{"class":675},[33,2908,1882],{"class":43},[33,2910,2911],{"class":53},"\\n",[33,2913,1882],{"class":43},[33,2915,1514],{"class":675},[33,2917,2919,2921,2923,2925,2927,2929,2931,2934],{"class":35,"line":2918},128,[33,2920,2896],{"class":39},[33,2922,752],{"class":675},[33,2924,1118],{"class":53},[33,2926,1497],{"class":675},[33,2928,1627],{"class":39},[33,2930,1630],{"class":675},[33,2932,2933],{"class":43},"\"以下是电机编码器的odom数据：\"",[33,2935,1514],{"class":675},[33,2937,2939],{"class":35,"line":2938},129,[33,2940,670],{"emptyLinePlaceholder":669},[33,2942,2944,2947],{"class":35,"line":2943},130,[33,2945,2946],{"class":263}," \u002F\u002F",[33,2948,2949],{"class":263}," \u002F\u002F 存储电机速度数据\n",[33,2951,2953,2956],{"class":35,"line":2952},131,[33,2954,2955],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[0] = serial_pack_.rx.data.fp32_buffer[0];",[33,2957,2958],{"class":263}," \u002F\u002F 电机 0 速度\n",[33,2960,2962,2965],{"class":35,"line":2961},132,[33,2963,2964],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[1] = serial_pack_.rx.data.fp32_buffer[1];",[33,2966,2967],{"class":263}," \u002F\u002F 电机 1 速度\n",[33,2969,2971,2974],{"class":35,"line":2970},133,[33,2972,2973],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[2] = serial_pack_.rx.data.fp32_buffer[2];",[33,2975,2976],{"class":263}," \u002F\u002F 电机 2 速度\n",[33,2978,2980,2983],{"class":35,"line":2979},134,[33,2981,2982],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[3] = serial_pack_.rx.data.fp32_buffer[3];",[33,2984,2985],{"class":263}," \u002F\u002F 电机 3 速度\n",[33,2987,2989],{"class":35,"line":2988},135,[33,2990,670],{"emptyLinePlaceholder":669},[33,2992,2994,2996],{"class":35,"line":2993},136,[33,2995,2946],{"class":263},[33,2997,2998],{"class":263}," \u002F\u002F 存储电机位置数据\n",[33,3000,3002,3005],{"class":35,"line":3001},137,[33,3003,3004],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[0] = serial_pack_.rx.data.fp32_buffer[4];",[33,3006,3007],{"class":263}," \u002F\u002F 电机 0 位置\n",[33,3009,3011,3014],{"class":35,"line":3010},138,[33,3012,3013],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[1] = serial_pack_.rx.data.fp32_buffer[5];",[33,3015,3016],{"class":263}," \u002F\u002F 电机 1 位置\n",[33,3018,3020,3023],{"class":35,"line":3019},139,[33,3021,3022],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[2] = serial_pack_.rx.data.fp32_buffer[6];",[33,3024,3025],{"class":263}," \u002F\u002F 电机 2 位置\n",[33,3027,3029,3032],{"class":35,"line":3028},140,[33,3030,3031],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[3] = serial_pack_.rx.data.fp32_buffer[7];",[33,3033,3034],{"class":263}," \u002F\u002F 电机 3 位置\n",[33,3036,3038],{"class":35,"line":3037},141,[33,3039,670],{"emptyLinePlaceholder":669},[33,3041,3043],{"class":35,"line":3042},142,[33,3044,3045],{"class":263}," \u002F\u002F vx = serial_pack_.rx.data.fp32_buffer[8];\n",[33,3047,3049],{"class":35,"line":3048},143,[33,3050,3051],{"class":263}," \u002F\u002F vy = serial_pack_.rx.data.fp32_buffer[9];\n",[33,3053,3055],{"class":35,"line":3054},144,[33,3056,3057],{"class":263}," \u002F\u002F vw = serial_pack_.rx.data.fp32_buffer[10];\n",[33,3059,3061],{"class":35,"line":3060},145,[33,3062,3063],{"class":263}," \u002F\u002F yaw_ = serial_pack_.rx.data.fp32_buffer[11];\n",[33,3065,3067],{"class":35,"line":3066},146,[33,3068,3069],{"class":263}," \u002F\u002F dt_ = serial_pack_.rx.data.fp32_buffer[12];\n",[33,3071,3073],{"class":35,"line":3072},147,[33,3074,3075],{"class":263}," \u002F\u002F x_position_ = serial_pack_.rx.data.fp32_buffer[13];\n",[33,3077,3079],{"class":35,"line":3078},148,[33,3080,3081],{"class":263}," \u002F\u002F y_position_ = serial_pack_.rx.data.fp32_buffer[14];\n",[33,3083,3085],{"class":35,"line":3084},149,[33,3086,670],{"emptyLinePlaceholder":669},[33,3088,3090,3093,3095,3098,3100],{"class":35,"line":3089},150,[33,3091,3092],{"class":675}," vx ",[33,3094,778],{"class":641},[33,3096,3097],{"class":675}," serial_pack_.rx.data.fp32_buffer[",[33,3099,900],{"class":53},[33,3101,3102],{"class":675},"];\n",[33,3104,3106,3109,3111,3113,3115],{"class":35,"line":3105},151,[33,3107,3108],{"class":675}," vy ",[33,3110,778],{"class":641},[33,3112,3097],{"class":675},[33,3114,912],{"class":53},[33,3116,3102],{"class":675},[33,3118,3120,3123,3125,3127,3129],{"class":35,"line":3119},152,[33,3121,3122],{"class":675}," vw ",[33,3124,778],{"class":641},[33,3126,3097],{"class":675},[33,3128,922],{"class":53},[33,3130,3102],{"class":675},[33,3132,3134,3137,3139,3141,3143],{"class":35,"line":3133},153,[33,3135,3136],{"class":675}," yaw_ ",[33,3138,778],{"class":641},[33,3140,3097],{"class":675},[33,3142,931],{"class":53},[33,3144,3102],{"class":675},[33,3146,3148,3151,3153,3155,3158],{"class":35,"line":3147},154,[33,3149,3150],{"class":675}," dt_ ",[33,3152,778],{"class":641},[33,3154,3097],{"class":675},[33,3156,3157],{"class":53},"4",[33,3159,3102],{"class":675},[33,3161,3163,3166,3168,3170,3173],{"class":35,"line":3162},155,[33,3164,3165],{"class":675}," x_position_ ",[33,3167,778],{"class":641},[33,3169,3097],{"class":675},[33,3171,3172],{"class":53},"5",[33,3174,3102],{"class":675},[33,3176,3178,3181,3183,3185,3188],{"class":35,"line":3177},156,[33,3179,3180],{"class":675}," y_position_ ",[33,3182,778],{"class":641},[33,3184,3097],{"class":675},[33,3186,3187],{"class":53},"6",[33,3189,3102],{"class":675},[33,3191,3193],{"class":35,"line":3192},157,[33,3194,670],{"emptyLinePlaceholder":669},[33,3196,3198],{"class":35,"line":3197},158,[33,3199,3200],{"class":263}," \u002F\u002F 打印电机速度和位置（角度）\n",[33,3202,3204,3207,3209,3212,3214,3216,3218,3221,3223,3225,3228,3230],{"class":35,"line":3203},159,[33,3205,3206],{"class":641}," for",[33,3208,1017],{"class":675},[33,3210,3211],{"class":641},"int",[33,3213,794],{"class":675},[33,3215,778],{"class":641},[33,3217,799],{"class":53},[33,3219,3220],{"class":675},"; i ",[33,3222,805],{"class":641},[33,3224,808],{"class":53},[33,3226,3227],{"class":675},"; ",[33,3229,814],{"class":641},[33,3231,3232],{"class":675},"i) \n",[33,3234,3236],{"class":35,"line":3235},160,[33,3237,3238],{"class":675}," {\n",[33,3240,3242],{"class":35,"line":3241},161,[33,3243,3244],{"class":263}," \u002F\u002F RCLCPP_DEBUG(this->get_logger(), \"%d号电机的速度: %.6f RPM, 位置: %.6f (2000pc)\",\n",[33,3246,3248],{"class":35,"line":3247},162,[33,3249,3250],{"class":263}," \u002F\u002F i, received_encoder_wheel_velocities_[i], received_encoder_wheel_angle_[i]);\n",[33,3252,3254],{"class":35,"line":3253},163,[33,3255,670],{"emptyLinePlaceholder":669},[33,3257,3259,3262,3264,3266,3268,3270,3273,3276,3279,3282,3284,3287,3289,3291,3294,3296,3298],{"class":35,"line":3258},164,[33,3260,3261],{"class":39}," 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