[{"data":1,"prerenderedAt":5281},["ShallowReactive",2],{"wiki-page-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom":3,"wiki-doc-items-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom":4971,"language-switcher-data-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom":5265,"wiki-i18n-paths-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-li-cheng-ji-odom":5280},{"id":4,"title":5,"body":6,"canonicalPath":4953,"chapterDepth":267,"chapterOrder":4954,"date":4955,"description":27,"docI18nKey":4956,"docKey":4957,"docRoot":4958,"docTitle":4959,"extension":4960,"i18nKey":4961,"isBlogPost":4962,"isWikiDoc":672,"isWikiIndex":4962,"layout":4963,"legacyPath":4963,"locale":4964,"localeSlug":4965,"meta":4966,"navigation":672,"path":4953,"seo":4967,"sourcePath":4968,"sourceStem":4961,"stem":4969,"wikiDepth":35,"__hash__":4970},"content\u002F_i18n\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0100-里程计Odom.md","odometry",{"type":7,"value":8,"toc":4948},"minimark",[9,14,18,21,78,81,100,104,115,118,138,168,179,201,206,248,540,543,582,586,593,599,604,609,614,619,622,625,630,633,1322,1325,4936,4941,4944],[10,11,13],"h3",{"id":12},"creating-a-function-package","Creating a function package",[15,16,17],"p",{},"You don't necessarily need encoder (odometry) data. As long as you send all 6 degrees of freedom (DOF) of the robot, which can be calculated from the motor encoders (x, y, z, yaw, pitch, roll — if you're unfamiliar with these, see the MoveIt2 tutorial above), that's sufficient.",[15,19,20],{},"First, create the feature package.",[22,23,28],"pre",{"className":24,"code":25,"language":26,"meta":27,"style":27},"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","",[29,30,31],"code",{"__ignoreMap":27},[32,33,36,40,44,47,50,54,57,60,63,66,69,72,75],"span",{"class":34,"line":35},"line",1,[32,37,39],{"class":38},"sScJk","ros2",[32,41,43],{"class":42},"sZZnC"," pkg",[32,45,46],{"class":42}," create",[32,48,49],{"class":42}," odom_plumb",[32,51,53],{"class":52},"sj4cs"," --build-type",[32,55,56],{"class":42}," ament_cmake",[32,58,59],{"class":52}," --dependencies",[32,61,62],{"class":42}," rclcpp",[32,64,65],{"class":42}," nav_msgs",[32,67,68],{"class":42}," geometry_msgs",[32,70,71],{"class":42}," tf2_ros",[32,73,74],{"class":52}," --node-name",[32,76,77],{"class":42}," odom_node\n",[15,79,80],{},"Let's compile it first.",[22,82,84],{"className":24,"code":83,"language":26,"meta":27,"style":27},"colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON\n",[29,85,86],{"__ignoreMap":27},[32,87,88,91,94,97],{"class":34,"line":35},[32,89,90],{"class":38},"colcon",[32,92,93],{"class":42}," build",[32,95,96],{"class":52}," --cmake-args",[32,98,99],{"class":52}," -DCMAKE_EXPORT_COMPILE_COMMANDS=ON\n",[10,101,103],{"id":102},"message-interface","Message interface",[15,105,106,107,110,111,114],{},"After the chassis driver starts, it will continuously broadcast a critical piece of data—the odometry. Odometry describes the current robot's pose and velocity relative to its starting point, and plays an important role in robot localization and local path planning for navigation. In ROS2, the odometry message is encapsulated as the ",[29,108,109],{},"nav_msgs\u002Fmsg\u002FOdometry"," interface. You can view the specific data structure of this interface using the command ",[29,112,113],{},"ros2 interface show nav_msgs\u002Fmsg\u002FOdometry",", with the results shown below:",[15,116,117],{},"It describes estimated information about the robot's pose and velocity. The pose information is referenced with respect to the frame_id in the header, while the velocity information uses the child_frame_id as its reference frame.",[15,119,120,121,125,126,129,130,133,134,137],{},"In ",[122,123,124],"strong",{},"ROS2",", the ",[122,127,128],{},"odom coordinate frame"," (usually the ",[29,131,132],{},"odom"," frame) follows the ",[122,135,136],{},"right-hand rule",", and is defined as follows:",[139,140,141,152,160],"ul",{},[142,143,144,147,148,151],"li",{},[122,145,146],{},"X-axis",": Forward (direction of travel) is ",[122,149,150],{},"positive",".",[142,153,154,157,158,151],{},[122,155,156],{},"Y-axis",": Left (leftward direction) is ",[122,159,150],{},[142,161,162,165,166,151],{},[122,163,164],{},"Z-axis",": Upward (perpendicular to the ground) is ",[122,167,150],{},[15,169,170,171,174,175,178],{},"In the ",[122,172,173],{},"ROS2 odom coordinate system"," (right-handed coordinate system), the ",[122,176,177],{},"definition of the yaw angle"," is as follows:",[139,180,181,191,196],{},[142,182,183,186,187,190],{},[122,184,185],{},"yaw = 0"," : The robot faces the ",[122,188,189],{},"positive X-axis direction"," (forward).",[142,192,193],{},[122,194,195],{},"Counterclockwise (CCW) rotation is positive.",[142,197,198],{},[122,199,200],{},"Clockwise (CW) rotation is negative.",[15,202,203],{},[122,204,205],{},"yaw angle range",[139,207,208,225,239],{},[142,209,210,213,214],{},[29,211,212],{},"yaw ∈ (-π, π]"," ",[122,215,216,217,220,221,224],{},"(i.e., from ",[29,218,219],{},"-180°"," to ",[29,222,223],{},"180°",")",[142,226,227,228,231,232,235,236,151],{},"When ",[29,229,230],{},"yaw = π"," (180°), if it continues to increase, it should jump to ",[29,233,234],{},"-π"," (-180°), rather than ",[29,237,238],{},"π",[142,240,227,241,244,245,247],{},[29,242,243],{},"yaw = -π"," (-180°), if it continues to decrease, it should jump to ",[29,246,238],{}," (180°).",[22,249,251],{"className":24,"code":250,"language":26,"meta":27,"style":27},"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",[29,252,253,265,277,286,295,307,313,322,328,337,345,357,366,374,382,394,405,415,425,436,445,451,460,468,480,487,494,501,512,519,526,533],{"__ignoreMap":27},[32,254,255,258,261],{"class":34,"line":35},[32,256,257],{"class":38},"std_msgs\u002FHeader",[32,259,260],{"class":42}," header",[32,262,264],{"class":263},"sJ8bj"," # 标头\n",[32,266,268,271,274],{"class":34,"line":267},2,[32,269,270],{"class":38}," builtin_interfaces\u002FTime",[32,272,273],{"class":42}," stamp",[32,275,276],{"class":263}," # 时间戳\n",[32,278,280,283],{"class":34,"line":279},3,[32,281,282],{"class":38}," int32",[32,284,285],{"class":42}," sec\n",[32,287,289,292],{"class":34,"line":288},4,[32,290,291],{"class":38}," uint32",[32,293,294],{"class":42}," nanosec\n",[32,296,298,301,304],{"class":34,"line":297},5,[32,299,300],{"class":38}," string",[32,302,303],{"class":42}," frame_id",[32,305,306],{"class":263}," # 位姿信息所参考的坐标系\n",[32,308,310],{"class":34,"line":309},6,[32,311,312],{"class":38},"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",[32,314,316,319],{"class":34,"line":315},7,[32,317,318],{"class":38},"string",[32,320,321],{"class":42}," child_frame_id\n",[32,323,325],{"class":34,"line":324},8,[32,326,327],{"class":38},"相对于frame_id的预估位姿信息\n",[32,329,331,334],{"class":34,"line":330},9,[32,332,333],{"class":38},"geometry_msgs\u002FPoseWithCovariance",[32,335,336],{"class":42}," pose\n",[32,338,340,343],{"class":34,"line":339},10,[32,341,342],{"class":38}," Pose",[32,344,336],{"class":42},[32,346,348,351,354],{"class":34,"line":347},11,[32,349,350],{"class":38}," Point",[32,352,353],{"class":42}," position",[32,355,356],{"class":263}," # 坐标\n",[32,358,360,363],{"class":34,"line":359},12,[32,361,362],{"class":38}," float64",[32,364,365],{"class":42}," x\n",[32,367,369,371],{"class":34,"line":368},13,[32,370,362],{"class":38},[32,372,373],{"class":42}," y\n",[32,375,377,379],{"class":34,"line":376},14,[32,378,362],{"class":38},[32,380,381],{"class":42}," z\n",[32,383,385,388,391],{"class":34,"line":384},15,[32,386,387],{"class":38}," Quaternion",[32,389,390],{"class":42}," orientation",[32,392,393],{"class":263}," # 四元数\n",[32,395,397,399,402],{"class":34,"line":396},16,[32,398,362],{"class":38},[32,400,401],{"class":42}," x",[32,403,404],{"class":52}," 0\n",[32,406,408,410,413],{"class":34,"line":407},17,[32,409,362],{"class":38},[32,411,412],{"class":42}," y",[32,414,404],{"class":52},[32,416,418,420,423],{"class":34,"line":417},18,[32,419,362],{"class":38},[32,421,422],{"class":42}," z",[32,424,404],{"class":52},[32,426,428,430,433],{"class":34,"line":427},19,[32,429,362],{"class":38},[32,431,432],{"class":42}," w",[32,434,435],{"class":52}," 1\n",[32,437,439,442],{"class":34,"line":438},20,[32,440,441],{"class":38}," float64[36]",[32,443,444],{"class":42}," covariance\n",[32,446,448],{"class":34,"line":447},21,[32,449,450],{"class":38},"相对于child_frame_id的预估线速度与角速度\n",[32,452,454,457],{"class":34,"line":453},22,[32,455,456],{"class":38},"geometry_msgs\u002FTwistWithCovariance",[32,458,459],{"class":42}," twist\n",[32,461,463,466],{"class":34,"line":462},23,[32,464,465],{"class":38}," Twist",[32,467,459],{"class":42},[32,469,471,474,477],{"class":34,"line":470},24,[32,472,473],{"class":38}," Vector3",[32,475,476],{"class":42}," linear",[32,478,479],{"class":263}," # 线速度\n",[32,481,483,485],{"class":34,"line":482},25,[32,484,362],{"class":38},[32,486,365],{"class":42},[32,488,490,492],{"class":34,"line":489},26,[32,491,362],{"class":38},[32,493,373],{"class":42},[32,495,497,499],{"class":34,"line":496},27,[32,498,362],{"class":38},[32,500,381],{"class":42},[32,502,504,506,509],{"class":34,"line":503},28,[32,505,473],{"class":38},[32,507,508],{"class":42}," angular",[32,510,511],{"class":263}," # 角速度\n",[32,513,515,517],{"class":34,"line":514},29,[32,516,362],{"class":38},[32,518,365],{"class":42},[32,520,522,524],{"class":34,"line":521},30,[32,523,362],{"class":38},[32,525,373],{"class":42},[32,527,529,531],{"class":34,"line":528},31,[32,530,362],{"class":38},[32,532,381],{"class":42},[32,534,536,538],{"class":34,"line":535},32,[32,537,441],{"class":38},[32,539,444],{"class":42},[15,541,542],{},"It is important to note that,",[544,545,546,553,564,579],"ol",{},[142,547,548,549,552],{},"Coordinates and poses are relative to ",[122,550,551],{},"frame_id",", usually odom itself.",[142,554,555,556,559,560,563],{},"And the linear and angular velocities are relative to the ",[122,557,558],{},"child_frame_id",". Usually, it's base_link ",[122,561,562],{},":"," (Note, I made that mistake at first).",[142,565,566,567,570,571,574,575,578],{},"Although Twist is relative to the child frame ",[122,568,569],{},"(base_link)",", it represents ",[122,572,573],{},"instantaneous values","—much like a car's speedometer, which also shows speed ",[122,576,577],{},"instantaneously"," relative to the vehicle's body.",[142,580,581],{},"Odometry accumulates errors during calculation, so it describes the robot's estimated pose, which is not absolutely accurate.",[10,583,585],{"id":584},"node-main-logic","Node main logic",[15,587,588,589,592],{},"So we need to initialize ",[29,590,591],{},"nav_msgs::msg::Odometry"," and publish it.",[15,594,595],{},[596,597],"img",{"alt":27,"src":598},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1794.webp",[15,600,601],{},[596,602],{"alt":27,"src":603},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1795.webp",[15,605,606],{},[596,607],{"alt":27,"src":608},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1796.webp",[15,610,611],{},[596,612],{"alt":27,"src":613},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1797.webp",[15,615,616,617,151],{},"So you need to obtain or compute this data from the MCU microcontroller and send it out as a message of type ",[29,618,591],{},[15,620,621],{},"Note: If you don't have a proper odometer, the odometry data can be calculated from the chassis motor encoder data.",[15,623,624],{},"In addition to the code for publishing the topic, don't forget to publish the dynamic coordinate transformation between odom and base_link.",[15,626,627],{},[596,628],{"alt":27,"src":629},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1798.webp",[15,631,632],{},"Below is the odometry data calculated from forward kinematics:",[22,634,638],{"className":635,"code":636,"language":637,"meta":27,"style":27},"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",[29,639,640,649,656,661,668,674,680,684,689,693,698,703,711,716,723,728,735,739,766,771,785,820,825,830,873,878,883,888,947,994,998,1003,1008,1073,1078,1084,1090,1096,1132,1164,1184,1189,1195,1217,1222,1243,1248,1271,1276,1295,1300,1305,1311,1316],{"__ignoreMap":27},[32,641,642,646],{"class":34,"line":35},[32,643,645],{"class":644},"szBVR","#include",[32,647,648],{"class":42}," \"odom_mg513.h\"\n",[32,650,651,653],{"class":34,"line":267},[32,652,645],{"class":644},[32,654,655],{"class":42}," \"mg513_gmr500ppr.h\"\n",[32,657,658],{"class":34,"line":279},[32,659,660],{"class":263},"\u002F\u002F#include \u003Ccmath>\n",[32,662,663,665],{"class":34,"line":288},[32,664,645],{"class":644},[32,666,667],{"class":42}," \"arm_math.h\"\n",[32,669,670],{"class":34,"line":297},[32,671,673],{"emptyLinePlaceholder":672},true,"\n",[32,675,676],{"class":34,"line":309},[32,677,679],{"class":678},"sVt8B","ODOM_Motor odom_motor_;\n",[32,681,682],{"class":34,"line":315},[32,683,673],{"emptyLinePlaceholder":672},[32,685,686],{"class":34,"line":324},[32,687,688],{"class":263},"\u002F\u002F 坐标系满足右手坐标系\n",[32,690,691],{"class":34,"line":330},[32,692,673],{"emptyLinePlaceholder":672},[32,694,695],{"class":34,"line":339},[32,696,697],{"class":263},"\u002F\u002F（单位：米）\n",[32,699,700],{"class":34,"line":347},[32,701,702],{"class":263},"\u002F\u002F轮距\n",[32,704,705,708],{"class":34,"line":359},[32,706,707],{"class":644},"extern",[32,709,710],{"class":678}," fp32 Wheel_Spacing;\n",[32,712,713],{"class":34,"line":368},[32,714,715],{"class":263},"\u002F\u002F轴距\n",[32,717,718,720],{"class":34,"line":376},[32,719,707],{"class":644},[32,721,722],{"class":678}," fp32 Alex_Spacing;\n",[32,724,725],{"class":34,"line":384},[32,726,727],{"class":263},"\u002F\u002F轮子半径\n",[32,729,730,732],{"class":34,"line":396},[32,731,707],{"class":644},[32,733,734],{"class":678}," fp32 Wheel_Radius;\n",[32,736,737],{"class":34,"line":407},[32,738,673],{"emptyLinePlaceholder":672},[32,740,741,744,747,750,753,756,759,763],{"class":34,"line":417},[32,742,743],{"class":644},"void",[32,745,746],{"class":38}," ODOM_Motor",[32,748,749],{"class":678},"::",[32,751,752],{"class":38},"Analysis",[32,754,755],{"class":678},"(",[32,757,758],{"class":38},"fp32",[32,760,762],{"class":761},"s4XuR"," dt",[32,764,765],{"class":678},")\n",[32,767,768],{"class":34,"line":427},[32,769,770],{"class":678},"{\n",[32,772,773,776,779,782],{"class":34,"line":438},[32,774,775],{"class":52}," this",[32,777,778],{"class":678},"->dt ",[32,780,781],{"class":644},"=",[32,783,784],{"class":678}," dt;\n",[32,786,787,790,792,795,798,800,803,806,809,812,815,818],{"class":34,"line":447},[32,788,789],{"class":644}," for",[32,791,755],{"class":678},[32,793,794],{"class":644},"int16_t",[32,796,797],{"class":678}," i ",[32,799,781],{"class":644},[32,801,802],{"class":52}," 0",[32,804,805],{"class":678},";i ",[32,807,808],{"class":644},"\u003C",[32,810,811],{"class":52}," 4",[32,813,814],{"class":678},";i",[32,816,817],{"class":644},"++",[32,819,765],{"class":678},[32,821,822],{"class":34,"line":453},[32,823,824],{"class":678}," {\n",[32,826,827],{"class":34,"line":462},[32,828,829],{"class":263}," \u002F\u002F 将 RPM 转换为 m\u002Fs\n",[32,831,832,835,837,840,843,846,849,852,855,857,859,862,865,868,870],{"class":34,"line":470},[32,833,834],{"class":678}," encoder_wheel_velocities_[i] ",[32,836,781],{"class":644},[32,838,839],{"class":678}," mg513_gmr500ppr_motor[i].encoder.motor_data.motor_speed ",[32,841,842],{"class":644},"*",[32,844,845],{"class":52}," 2.0",[32,847,848],{"class":644},"f",[32,850,851],{"class":644}," *",[32,853,854],{"class":52}," 3.14159265358979",[32,856,848],{"class":644},[32,858,851],{"class":644},[32,860,861],{"class":678}," Wheel_Radius ",[32,863,864],{"class":644},"\u002F",[32,866,867],{"class":52}," 60.0",[32,869,848],{"class":644},[32,871,872],{"class":678},";\n",[32,874,875],{"class":34,"line":482},[32,876,877],{"class":678}," }\n",[32,879,880],{"class":34,"line":489},[32,881,882],{"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",[32,884,885],{"class":34,"line":496},[32,886,887],{"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",[32,889,890,893,896,898,901,904,907,910,913,916,918,921,923,926,928,930,932,935,938,940,943,945],{"class":34,"line":503},[32,891,892],{"class":52}," this",[32,894,895],{"class":678},"->vx ",[32,897,781],{"class":644},[32,899,900],{"class":678}," ( encoder_wheel_velocities_[",[32,902,903],{"class":52},"0",[32,905,906],{"class":678},"] ",[32,908,909],{"class":644},"+",[32,911,912],{"class":678}," encoder_wheel_velocities_[",[32,914,915],{"class":52},"1",[32,917,906],{"class":678},[32,919,920],{"class":644},"-",[32,922,912],{"class":678},[32,924,925],{"class":52},"2",[32,927,906],{"class":678},[32,929,920],{"class":644},[32,931,912],{"class":678},[32,933,934],{"class":52},"3",[32,936,937],{"class":678},"]) ",[32,939,864],{"class":644},[32,941,942],{"class":52}," 4.0",[32,944,848],{"class":644},[32,946,872],{"class":678},[32,948,949,951,954,956,958,960,962,964,966,968,970,972,974,976,978,980,982,984,986,988,990,992],{"class":34,"line":514},[32,950,892],{"class":52},[32,952,953],{"class":678},"->vy ",[32,955,781],{"class":644},[32,957,900],{"class":678},[32,959,903],{"class":52},[32,961,906],{"class":678},[32,963,920],{"class":644},[32,965,912],{"class":678},[32,967,915],{"class":52},[32,969,906],{"class":678},[32,971,920],{"class":644},[32,973,912],{"class":678},[32,975,925],{"class":52},[32,977,906],{"class":678},[32,979,909],{"class":644},[32,981,912],{"class":678},[32,983,934],{"class":52},[32,985,937],{"class":678},[32,987,864],{"class":644},[32,989,942],{"class":52},[32,991,848],{"class":644},[32,993,872],{"class":678},[32,995,996],{"class":34,"line":521},[32,997,673],{"emptyLinePlaceholder":672},[32,999,1000],{"class":34,"line":528},[32,1001,1002],{"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",[32,1004,1005],{"class":34,"line":535},[32,1006,1007],{"class":263}," \u002F\u002F所以要除以底盘尺寸，alex_spacing + wheel_spacing 是底盘尺寸。\n",[32,1009,1011,1013,1016,1018,1021,1023,1026,1028,1030,1032,1034,1036,1038,1040,1042,1044,1046,1048,1050,1052,1054,1056,1058,1061,1063,1065,1068,1070],{"class":34,"line":1010},33,[32,1012,892],{"class":52},[32,1014,1015],{"class":678},"->vw ",[32,1017,781],{"class":644},[32,1019,1020],{"class":678}," (",[32,1022,920],{"class":644},[32,1024,1025],{"class":678},"encoder_wheel_velocities_[",[32,1027,903],{"class":52},[32,1029,906],{"class":678},[32,1031,920],{"class":644},[32,1033,912],{"class":678},[32,1035,915],{"class":52},[32,1037,906],{"class":678},[32,1039,920],{"class":644},[32,1041,912],{"class":678},[32,1043,925],{"class":52},[32,1045,906],{"class":678},[32,1047,920],{"class":644},[32,1049,912],{"class":678},[32,1051,934],{"class":52},[32,1053,937],{"class":678},[32,1055,864],{"class":644},[32,1057,1020],{"class":678},[32,1059,1060],{"class":52},"4.0",[32,1062,848],{"class":644},[32,1064,851],{"class":644},[32,1066,1067],{"class":678}," (Wheel_Spacing ",[32,1069,909],{"class":644},[32,1071,1072],{"class":678}," Alex_Spacing));\n",[32,1074,1076],{"class":34,"line":1075},34,[32,1077,673],{"emptyLinePlaceholder":672},[32,1079,1081],{"class":34,"line":1080},35,[32,1082,1083],{"class":263}," \u002F\u002F 更新机器人的位置（假设机器人沿着y轴移动）\n",[32,1085,1087],{"class":34,"line":1086},36,[32,1088,1089],{"class":263},"\u002F\u002F this->x_position += this->vx * std::__math::cos(this->yaw) * this->dt; \n",[32,1091,1093],{"class":34,"line":1092},37,[32,1094,1095],{"class":263},"\u002F\u002F this->y_position += this->vy * std::__math::sin(this->yaw) * this->dt;\n",[32,1097,1099,1101,1104,1107,1110,1112,1114,1117,1119,1122,1125,1127,1129],{"class":34,"line":1098},38,[32,1100,892],{"class":52},[32,1102,1103],{"class":678},"->x_position ",[32,1105,1106],{"class":644},"+=",[32,1108,1109],{"class":52}," this",[32,1111,895],{"class":678},[32,1113,842],{"class":644},[32,1115,1116],{"class":38}," arm_cos_f32",[32,1118,755],{"class":678},[32,1120,1121],{"class":52},"this",[32,1123,1124],{"class":678},"->yaw) ",[32,1126,842],{"class":644},[32,1128,1109],{"class":52},[32,1130,1131],{"class":678},"->dt; \n",[32,1133,1135,1137,1140,1142,1144,1146,1148,1151,1153,1155,1157,1159,1161],{"class":34,"line":1134},39,[32,1136,892],{"class":52},[32,1138,1139],{"class":678},"->y_position ",[32,1141,1106],{"class":644},[32,1143,1109],{"class":52},[32,1145,953],{"class":678},[32,1147,842],{"class":644},[32,1149,1150],{"class":38}," arm_sin_f32",[32,1152,755],{"class":678},[32,1154,1121],{"class":52},[32,1156,1124],{"class":678},[32,1158,842],{"class":644},[32,1160,1109],{"class":52},[32,1162,1163],{"class":678},"->dt;\n",[32,1165,1167,1169,1172,1174,1176,1178,1180,1182],{"class":34,"line":1166},40,[32,1168,892],{"class":52},[32,1170,1171],{"class":678},"->yaw ",[32,1173,1106],{"class":644},[32,1175,1109],{"class":52},[32,1177,1015],{"class":678},[32,1179,842],{"class":644},[32,1181,1109],{"class":52},[32,1183,1163],{"class":678},[32,1185,1187],{"class":34,"line":1186},41,[32,1188,673],{"emptyLinePlaceholder":672},[32,1190,1192],{"class":34,"line":1191},42,[32,1193,1194],{"class":263}," \u002F\u002F 保证 yaw 始终在 -PI 到 PI 之间\n",[32,1196,1198,1201,1203,1205,1207,1210,1212,1214],{"class":34,"line":1197},43,[32,1199,1200],{"class":644}," if",[32,1202,755],{"class":678},[32,1204,1121],{"class":52},[32,1206,1171],{"class":678},[32,1208,1209],{"class":644},">",[32,1211,854],{"class":52},[32,1213,848],{"class":644},[32,1215,1216],{"class":678},") \n",[32,1218,1220],{"class":34,"line":1219},44,[32,1221,824],{"class":678},[32,1223,1225,1228,1230,1233,1235,1237,1239,1241],{"class":34,"line":1224},45,[32,1226,1227],{"class":52}," this",[32,1229,1171],{"class":678},[32,1231,1232],{"class":644},"-=",[32,1234,845],{"class":52},[32,1236,851],{"class":644},[32,1238,854],{"class":52},[32,1240,848],{"class":644},[32,1242,872],{"class":678},[32,1244,1246],{"class":34,"line":1245},46,[32,1247,877],{"class":678},[32,1249,1251,1253,1255,1257,1259,1261,1264,1267,1269],{"class":34,"line":1250},47,[32,1252,1200],{"class":644},[32,1254,755],{"class":678},[32,1256,1121],{"class":52},[32,1258,1171],{"class":678},[32,1260,808],{"class":644},[32,1262,1263],{"class":644}," -",[32,1265,1266],{"class":52},"3.14159265358979",[32,1268,848],{"class":644},[32,1270,1216],{"class":678},[32,1272,1274],{"class":34,"line":1273},48,[32,1275,824],{"class":678},[32,1277,1279,1281,1283,1285,1287,1289,1291,1293],{"class":34,"line":1278},49,[32,1280,1227],{"class":52},[32,1282,1171],{"class":678},[32,1284,1106],{"class":644},[32,1286,845],{"class":52},[32,1288,851],{"class":644},[32,1290,854],{"class":52},[32,1292,848],{"class":644},[32,1294,872],{"class":678},[32,1296,1298],{"class":34,"line":1297},50,[32,1299,877],{"class":678},[32,1301,1303],{"class":34,"line":1302},51,[32,1304,673],{"emptyLinePlaceholder":672},[32,1306,1308],{"class":34,"line":1307},52,[32,1309,1310],{"class":263},"\u002F\u002F this->yaw_deg = this->yaw * 180.0f \u002F 3.14159265358979f;\n",[32,1312,1314],{"class":34,"line":1313},53,[32,1315,673],{"emptyLinePlaceholder":672},[32,1317,1319],{"class":34,"line":1318},54,[32,1320,1321],{"class":678},"}\n",[15,1323,1324],{},"The total ROS2 code is as follows:",[22,1326,1328],{"className":635,"code":1327,"language":637,"meta":27,"style":27},"#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",[29,1329,1330,1337,1344,1351,1358,1365,1372,1379,1386,1393,1400,1407,1411,1427,1431,1452,1456,1461,1479,1484,1489,1494,1518,1523,1543,1547,1552,1584,1613,1617,1639,1644,1649,1668,1673,1690,1705,1721,1725,1730,1735,1739,1775,1780,1813,1824,1839,1843,1863,1910,1940,1944,1965,1969,1999,2007,2012,2017,2023,2064,2069,2075,2108,2113,2119,2189,2194,2206,2212,2217,2223,2248,2271,2276,2303,2323,2328,2354,2359,2368,2374,2382,2388,2393,2401,2407,2412,2418,2438,2456,2474,2479,2506,2522,2528,2533,2548,2563,2568,2583,2588,2606,2611,2617,2671,2676,2682,2705,2710,2725,2731,2763,2769,2783,2789,2800,2809,2821,2829,2836,2843,2850,2858,2864,2870,2889,2894,2919,2939,2944,2953,2962,2971,2980,2989,2994,3002,3011,3020,3029,3038,3043,3049,3055,3061,3067,3073,3079,3085,3090,3106,3120,3134,3148,3163,3178,3193,3198,3204,3236,3242,3248,3254,3259,3303,3348,3394,3419,3444,3469,3475,3480,3486,3508,3513,3519,3532,3537,3543,3559,3564,3570,3581,3592,3604,3609,3615,3624,3643,3649,3665,3680,3695,3710,3715,3721,3732,3743,3755,3760,3766,3778,3790,3801,3806,3812,3824,3829,3835,3842,3855,3875,3881,3887,3893,3899,3904,3910,3917,3928,3952,3961,3967,3973,3979,3984,3989,3995,4002,4013,4033,4041,4048,4054,4059,4064,4070,4077,4088,4108,4114,4120,4126,4131,4136,4142,4149,4160,4180,4186,4192,4198,4203,4208,4214,4238,4252,4264,4276,4286,4296,4308,4322,4334,4339,4344,4350,4356,4364,4369,4375,4380,4385,4414,4419,4425,4431,4437,4443,4454,4460,4465,4471,4490,4502,4513,4524,4535,4555,4560,4575,4580,4585,4590,4610,4615,4663,4707,4734,4739,4756,4761,4790,4795,4800,4806,4811,4839,4844,4857,4862,4886,4891,4904,4909,4921,4931],{"__ignoreMap":27},[32,1331,1332,1334],{"class":34,"line":35},[32,1333,645],{"class":644},[32,1335,1336],{"class":42}," 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四个轮子的速度(对应单片机的顺序)（单位：2000pc）\n",[32,2402,2404],{"class":34,"line":2403},85,[32,2405,2406],{"class":263}," \u002F\u002F fp32 received_encoder_wheel_angle_[4] = {0.0, 0.0, 0.0, 0.0};\n",[32,2408,2410],{"class":34,"line":2409},86,[32,2411,673],{"emptyLinePlaceholder":672},[32,2413,2415],{"class":34,"line":2414},87,[32,2416,2417],{"class":263}," \u002F\u002F麦克纳姆轮底盘参数\n",[32,2419,2421,2424,2427,2429,2432,2435],{"class":34,"line":2420},88,[32,2422,2423],{"class":644}," const",[32,2425,2426],{"class":678}," fp32 wheel_spacing ",[32,2428,781],{"class":644},[32,2430,2431],{"class":52}," 0.093",[32,2433,2434],{"class":678},";",[32,2436,2437],{"class":263}," \u002F\u002F 轮间距（单位：米）\n",[32,2439,2441,2443,2446,2448,2451,2453],{"class":34,"line":2440},89,[32,2442,2423],{"class":644},[32,2444,2445],{"class":678}," fp32 alex_spacing ",[32,2447,781],{"class":644},[32,2449,2450],{"class":52}," 0.085",[32,2452,2434],{"class":678},[32,2454,2455],{"class":263}," \u002F\u002F 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0.0",[32,2518,2434],{"class":678},[32,2520,2521],{"class":263}," \u002F\u002F 机器人航向角（单位：弧度）\n",[32,2523,2525],{"class":34,"line":2524},94,[32,2526,2527],{"class":678}," fp32 dt_;\n",[32,2529,2531],{"class":34,"line":2530},95,[32,2532,673],{"emptyLinePlaceholder":672},[32,2534,2536,2539,2541,2543,2545],{"class":34,"line":2535},96,[32,2537,2538],{"class":678}," fp32 x_position_ ",[32,2540,781],{"class":644},[32,2542,2516],{"class":52},[32,2544,2434],{"class":678},[32,2546,2547],{"class":263}," \u002F\u002F x位置\n",[32,2549,2551,2554,2556,2558,2560],{"class":34,"line":2550},97,[32,2552,2553],{"class":678}," fp32 y_position_ ",[32,2555,781],{"class":644},[32,2557,2516],{"class":52},[32,2559,2434],{"class":678},[32,2561,2562],{"class":263}," \u002F\u002F y位置\n",[32,2564,2566],{"class":34,"line":2565},98,[32,2567,673],{"emptyLinePlaceholder":672},[32,2569,2571,2574,2577,2580],{"class":34,"line":2570},99,[32,2572,2573],{"class":644}," void",[32,2575,2576],{"class":38}," async_receive_message",[32,2578,2579],{"class":678},"()",[32,2581,2582],{"class":263}," \u002F\u002F创建一个函数更方便重新调用\n",[32,2584,2586],{"class":34,"line":2585},100,[32,2587,1483],{"class":678},[32,2589,2591,2594,2597,2599,2602,2604],{"class":34,"line":2590},101,[32,2592,2593],{"class":644}," auto",[32,2595,2596],{"class":678}," port ",[32,2598,781],{"class":644},[32,2600,2601],{"class":678}," serial_driver_->",[32,2603,1830],{"class":38},[32,2605,1583],{"class":678},[32,2607,2609],{"class":34,"line":2608},102,[32,2610,673],{"emptyLinePlaceholder":672},[32,2612,2614],{"class":34,"line":2613},103,[32,2615,2616],{"class":263}," \u002F\u002F 设置接收回调函数\n",[32,2618,2620,2623,2626,2629,2631,2634,2636,2638,2640,2643,2645,2648,2651,2653,2656,2658,2660,2663,2666,2669],{"class":34,"line":2619},104,[32,2621,2622],{"class":678}," port->",[32,2624,2625],{"class":38},"async_receive",[32,2627,2628],{"class":678},"([",[32,2630,1121],{"class":52},[32,2632,2633],{"class":678},"](",[32,2635,1953],{"class":644},[32,2637,1417],{"class":38},[32,2639,749],{"class":678},[32,2641,2642],{"class":38},"vector",[32,2644,808],{"class":678},[32,2646,2647],{"class":644},"uint8_t",[32,2649,2650],{"class":678},"> ",[32,2652,1961],{"class":644},[32,2654,2655],{"class":761},"data",[32,2657,2058],{"class":678},[32,2659,1953],{"class":644},[32,2661,2662],{"class":644}," size_t",[32,2664,2665],{"class":644}," &",[32,2667,2668],{"class":761},"size",[32,2670,1216],{"class":678},[32,2672,2674],{"class":34,"line":2673},105,[32,2675,824],{"class":678},[32,2677,2679],{"class":34,"line":2678},106,[32,2680,2681],{"class":263}," \u002F\u002F创建odom消息类型\n",[32,2683,2685,2688,2691,2693,2695,2697,2699,2701,2703],{"class":34,"line":2684},107,[32,2686,2687],{"class":644}," auto",[32,2689,2690],{"class":678}," odom_msg ",[32,2692,781],{"class":644},[32,2694,65],{"class":38},[32,2696,749],{"class":678},[32,2698,2045],{"class":38},[32,2700,749],{"class":678},[32,2702,2299],{"class":38},[32,2704,1583],{"class":678},[32,2706,2708],{"class":34,"line":2707},108,[32,2709,673],{"emptyLinePlaceholder":672},[32,2711,2713,2716,2719,2721,2723],{"class":34,"line":2712},109,[32,2714,2715],{"class":644}," if",[32,2717,2718],{"class":678}," (size ",[32,2720,1209],{"class":644},[32,2722,802],{"class":52},[32,2724,765],{"class":678},[32,2726,2728],{"class":34,"line":2727},110,[32,2729,2730],{"class":678}," {\n",[32,2732,2734,2737,2739,2741,2743,2745,2747,2749,2751,2753,2755,2758,2760],{"class":34,"line":2733},111,[32,2735,2736],{"class":644}," for",[32,2738,755],{"class":678},[32,2740,794],{"class":644},[32,2742,797],{"class":678},[32,2744,781],{"class":644},[32,2746,802],{"class":52},[32,2748,805],{"class":678},[32,2750,808],{"class":644},[32,2752,1020],{"class":678},[32,2754,794],{"class":644},[32,2756,2757],{"class":678},")size;",[32,2759,817],{"class":644},[32,2761,2762],{"class":678},"i)\n",[32,2764,2766],{"class":34,"line":2765},112,[32,2767,2768],{"class":678}," {\n",[32,2770,2772,2775,2778,2780],{"class":34,"line":2771},113,[32,2773,2774],{"class":644}," uint8_t",[32,2776,2777],{"class":678}," data_buffer ",[32,2779,781],{"class":644},[32,2781,2782],{"class":678}," data[i];\n",[32,2784,2786],{"class":34,"line":2785},114,[32,2787,2788],{"class":263}," \u002F\u002F 处理接收到的数据\n",[32,2790,2792,2795,2798],{"class":34,"line":2791},115,[32,2793,2794],{"class":678}," serial_pack_.rx.",[32,2796,2797],{"class":38},"Data_Analysis",[32,2799,1667],{"class":678},[32,2801,2803,2806],{"class":34,"line":2802},116,[32,2804,2805],{"class":644}," &",[32,2807,2808],{"class":678},"data_buffer,\n",[32,2810,2812,2815,2818],{"class":34,"line":2811},117,[32,2813,2814],{"class":644}," 0x",[32,2816,2817],{"class":52},"01",[32,2819,2820],{"class":678},",\n",[32,2822,2824,2827],{"class":34,"line":2823},118,[32,2825,2826],{"class":52}," 0",[32,2828,2820],{"class":678},[32,2830,2832,2834],{"class":34,"line":2831},119,[32,2833,2826],{"class":52},[32,2835,2820],{"class":678},[32,2837,2839,2841],{"class":34,"line":2838},120,[32,2840,2826],{"class":52},[32,2842,2820],{"class":678},[32,2844,2846,2848],{"class":34,"line":2845},121,[32,2847,2826],{"class":52},[32,2849,2820],{"class":678},[32,2851,2853,2856],{"class":34,"line":2852},122,[32,2854,2855],{"class":52}," 8",[32,2857,1517],{"class":678},[32,2859,2861],{"class":34,"line":2860},123,[32,2862,2863],{"class":678}," }\n",[32,2865,2867],{"class":34,"line":2866},124,[32,2868,2869],{"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",[32,2871,2873,2876,2879,2882,2885,2887],{"class":34,"line":2872},125,[32,2874,2875],{"class":644}," if",[32,2877,2878],{"class":678},"(serial_pack_.rx.data.cmd ",[32,2880,2881],{"class":644},"==",[32,2883,2884],{"class":644}," 0x",[32,2886,2817],{"class":52},[32,2888,765],{"class":678},[32,2890,2892],{"class":34,"line":2891},126,[32,2893,2768],{"class":678},[32,2895,2897,2900,2902,2904,2906,2908,2910,2912,2915,2917],{"class":34,"line":2896},127,[32,2898,2899],{"class":38}," RCLCPP_DEBUG",[32,2901,755],{"class":678},[32,2903,1121],{"class":52},[32,2905,1500],{"class":678},[32,2907,1630],{"class":38},[32,2909,1633],{"class":678},[32,2911,1885],{"class":42},[32,2913,2914],{"class":52},"\\n",[32,2916,1885],{"class":42},[32,2918,1517],{"class":678},[32,2920,2922,2924,2926,2928,2930,2932,2934,2937],{"class":34,"line":2921},128,[32,2923,2899],{"class":38},[32,2925,755],{"class":678},[32,2927,1121],{"class":52},[32,2929,1500],{"class":678},[32,2931,1630],{"class":38},[32,2933,1633],{"class":678},[32,2935,2936],{"class":42},"\"以下是电机编码器的odom数据：\"",[32,2938,1517],{"class":678},[32,2940,2942],{"class":34,"line":2941},129,[32,2943,673],{"emptyLinePlaceholder":672},[32,2945,2947,2950],{"class":34,"line":2946},130,[32,2948,2949],{"class":263}," \u002F\u002F",[32,2951,2952],{"class":263}," \u002F\u002F 存储电机速度数据\n",[32,2954,2956,2959],{"class":34,"line":2955},131,[32,2957,2958],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[0] = serial_pack_.rx.data.fp32_buffer[0];",[32,2960,2961],{"class":263}," \u002F\u002F 电机 0 速度\n",[32,2963,2965,2968],{"class":34,"line":2964},132,[32,2966,2967],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[1] = serial_pack_.rx.data.fp32_buffer[1];",[32,2969,2970],{"class":263}," \u002F\u002F 电机 1 速度\n",[32,2972,2974,2977],{"class":34,"line":2973},133,[32,2975,2976],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[2] = serial_pack_.rx.data.fp32_buffer[2];",[32,2978,2979],{"class":263}," \u002F\u002F 电机 2 速度\n",[32,2981,2983,2986],{"class":34,"line":2982},134,[32,2984,2985],{"class":263}," \u002F\u002F received_encoder_wheel_velocities_[3] = serial_pack_.rx.data.fp32_buffer[3];",[32,2987,2988],{"class":263}," \u002F\u002F 电机 3 速度\n",[32,2990,2992],{"class":34,"line":2991},135,[32,2993,673],{"emptyLinePlaceholder":672},[32,2995,2997,2999],{"class":34,"line":2996},136,[32,2998,2949],{"class":263},[32,3000,3001],{"class":263}," \u002F\u002F 存储电机位置数据\n",[32,3003,3005,3008],{"class":34,"line":3004},137,[32,3006,3007],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[0] = serial_pack_.rx.data.fp32_buffer[4];",[32,3009,3010],{"class":263}," \u002F\u002F 电机 0 位置\n",[32,3012,3014,3017],{"class":34,"line":3013},138,[32,3015,3016],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[1] = serial_pack_.rx.data.fp32_buffer[5];",[32,3018,3019],{"class":263}," \u002F\u002F 电机 1 位置\n",[32,3021,3023,3026],{"class":34,"line":3022},139,[32,3024,3025],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[2] = serial_pack_.rx.data.fp32_buffer[6];",[32,3027,3028],{"class":263}," \u002F\u002F 电机 2 位置\n",[32,3030,3032,3035],{"class":34,"line":3031},140,[32,3033,3034],{"class":263}," \u002F\u002F received_encoder_wheel_angle_[3] = serial_pack_.rx.data.fp32_buffer[7];",[32,3036,3037],{"class":263}," \u002F\u002F 电机 3 位置\n",[32,3039,3041],{"class":34,"line":3040},141,[32,3042,673],{"emptyLinePlaceholder":672},[32,3044,3046],{"class":34,"line":3045},142,[32,3047,3048],{"class":263}," \u002F\u002F vx = serial_pack_.rx.data.fp32_buffer[8];\n",[32,3050,3052],{"class":34,"line":3051},143,[32,3053,3054],{"class":263}," \u002F\u002F vy = serial_pack_.rx.data.fp32_buffer[9];\n",[32,3056,3058],{"class":34,"line":3057},144,[32,3059,3060],{"class":263}," \u002F\u002F vw = serial_pack_.rx.data.fp32_buffer[10];\n",[32,3062,3064],{"class":34,"line":3063},145,[32,3065,3066],{"class":263}," \u002F\u002F yaw_ = serial_pack_.rx.data.fp32_buffer[11];\n",[32,3068,3070],{"class":34,"line":3069},146,[32,3071,3072],{"class":263}," \u002F\u002F dt_ = serial_pack_.rx.data.fp32_buffer[12];\n",[32,3074,3076],{"class":34,"line":3075},147,[32,3077,3078],{"class":263}," \u002F\u002F x_position_ = serial_pack_.rx.data.fp32_buffer[13];\n",[32,3080,3082],{"class":34,"line":3081},148,[32,3083,3084],{"class":263}," \u002F\u002F y_position_ = serial_pack_.rx.data.fp32_buffer[14];\n",[32,3086,3088],{"class":34,"line":3087},149,[32,3089,673],{"emptyLinePlaceholder":672},[32,3091,3093,3096,3098,3101,3103],{"class":34,"line":3092},150,[32,3094,3095],{"class":678}," vx ",[32,3097,781],{"class":644},[32,3099,3100],{"class":678}," serial_pack_.rx.data.fp32_buffer[",[32,3102,903],{"class":52},[32,3104,3105],{"class":678},"];\n",[32,3107,3109,3112,3114,3116,3118],{"class":34,"line":3108},151,[32,3110,3111],{"class":678}," vy ",[32,3113,781],{"class":644},[32,3115,3100],{"class":678},[32,3117,915],{"class":52},[32,3119,3105],{"class":678},[32,3121,3123,3126,3128,3130,3132],{"class":34,"line":3122},152,[32,3124,3125],{"class":678}," vw ",[32,3127,781],{"class":644},[32,3129,3100],{"class":678},[32,3131,925],{"class":52},[32,3133,3105],{"class":678},[32,3135,3137,3140,3142,3144,3146],{"class":34,"line":3136},153,[32,3138,3139],{"class":678}," yaw_ ",[32,3141,781],{"class":644},[32,3143,3100],{"class":678},[32,3145,934],{"class":52},[32,3147,3105],{"class":678},[32,3149,3151,3154,3156,3158,3161],{"class":34,"line":3150},154,[32,3152,3153],{"class":678}," dt_ ",[32,3155,781],{"class":644},[32,3157,3100],{"class":678},[32,3159,3160],{"class":52},"4",[32,3162,3105],{"class":678},[32,3164,3166,3169,3171,3173,3176],{"class":34,"line":3165},155,[32,3167,3168],{"class":678}," x_position_ ",[32,3170,781],{"class":644},[32,3172,3100],{"class":678},[32,3174,3175],{"class":52},"5",[32,3177,3105],{"class":678},[32,3179,3181,3184,3186,3188,3191],{"class":34,"line":3180},156,[32,3182,3183],{"class":678}," y_position_ ",[32,3185,781],{"class":644},[32,3187,3100],{"class":678},[32,3189,3190],{"class":52},"6",[32,3192,3105],{"class":678},[32,3194,3196],{"class":34,"line":3195},157,[32,3197,673],{"emptyLinePlaceholder":672},[32,3199,3201],{"class":34,"line":3200},158,[32,3202,3203],{"class":263}," \u002F\u002F 打印电机速度和位置（角度）\n",[32,3205,3207,3210,3212,3215,3217,3219,3221,3224,3226,3228,3231,3233],{"class":34,"line":3206},159,[32,3208,3209],{"class":644}," for",[32,3211,1020],{"class":678},[32,3213,3214],{"class":644},"int",[32,3216,797],{"class":678},[32,3218,781],{"class":644},[32,3220,802],{"class":52},[32,3222,3223],{"class":678},"; i ",[32,3225,808],{"class":644},[32,3227,811],{"class":52},[32,3229,3230],{"class":678},"; ",[32,3232,817],{"class":644},[32,3234,3235],{"class":678},"i) \n",[32,3237,3239],{"class":34,"line":3238},160,[32,3240,3241],{"class":678}," {\n",[32,3243,3245],{"class":34,"line":3244},161,[32,3246,3247],{"class":263}," \u002F\u002F RCLCPP_DEBUG(this->get_logger(), \"%d号电机的速度: %.6f RPM, 位置: %.6f (2000pc)\",\n",[32,3249,3251],{"class":34,"line":3250},162,[32,3252,3253],{"class":263}," \u002F\u002F i, received_encoder_wheel_velocities_[i], received_encoder_wheel_angle_[i]);\n",[32,3255,3257],{"class":34,"line":3256},163,[32,3258,673],{"emptyLinePlaceholder":672},[32,3260,3262,3265,3267,3269,3271,3273,3276,3279,3282,3285,3287,3290,3292,3294,3297,3299,3301],{"class":34,"line":3261},164,[32,3263,3264],{"class":38}," 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