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This commit is contained in:
Robofish 2024-11-23 20:18:37 +08:00
parent 710b3fc3ab
commit 2e730ac873
3 changed files with 4 additions and 11 deletions
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7
src/FAST_LIO_LOCALIZATION/PCD/M3.yaml
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@ -1,7 +0,0 @@
image: /home/cmrt/ws_livox/src/FAST_LIO_LOCALIZATION/PCD/M3.pgm
resolution: 0.050000
origin: [-18.653002, -10.328159, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

6
src/FAST_LIO_LOCALIZATION/src/mbot_linux_serial.cpp
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@ -144,10 +144,10 @@ void write3float2(float x,float y,float yaw)
Y.d = y; Y.d = y;
YAW.d = yaw; YAW.d = yaw;
unsigned char buf[15] = {0};// unsigned char buf[16] = {0};//
buf[0]=0x11; buf[0]=0xFF;
buf[1]=0x09; buf[1]=0x09;
buf[2]=0x00; buf[2]=0x01;
buf[15]=0xFE; buf[15]=0xFE;
for(int i=0;i<4;i++){ for(int i=0;i<4;i++){
buf[i+3]=X.data[i]; buf[i+3]=X.data[i];

2
src/FAST_LIO_LOCALIZATION/src/mbot_linux_serial.h
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@ -8,7 +8,7 @@
#include <nav_msgs/Odometry.h> #include <nav_msgs/Odometry.h>
#include <boost/asio.hpp> #include <boost/asio.hpp>
#include <geometry_msgs/Twist.h> #include <geometry_msgs/Twist.h>
void write3float2(float x,float y,float yaw); extern void write3float2(float x,float y,float yaw);
extern void serialInit(); extern void serialInit();
extern void writeSpeed(double Left_v, double Right_v,unsigned char ctrlFlag); extern void writeSpeed(double Left_v, double Right_v,unsigned char ctrlFlag);
extern void write3float(float x, float y, float yaw); extern void write3float(float x, float y, float yaw);