零漂数据采集拟合

src/origincar_base/launch/base_serial.launch.py

@@ -1,6 +1,7 @@
 from launch import LaunchDescription
 import launch_ros.actions
 
+
 def generate_launch_description():
     robot_parameters = [
         {'usart_port_name': '/dev/ttyACM0',
@@ -10,6 +11,9 @@ def generate_launch_description():
          'cmd_vel': 'cmd_vel',
          'akm_cmd_vel': 'none',
          'product_number': 0,
+         'gyro_z_bias_intercept': 0.0,
+         'gyro_z_bias_slope': 0.0,
+         'gyro_z_low_pass_alpha': 0.6,
          'odom_pose_cov_x': 0.01,
          'odom_pose_cov_y': 0.01,
          'odom_pose_cov_yaw': 0.0225}