222

2026-08-09 21:02:42 +08:00
parent 173670e194
commit 07598f4b11
41 changed files with 3381 additions and 255 deletions
--- a/src/origincar_base/launch/base_serial.launch.py
+++ b/src/origincar_base/launch/base_serial.launch.py
@@ -8,7 +8,7 @@ def generate_launch_description():
         'serial_baud_rate': 921600,
         'serial_read_timeout_ms': 20,
         'tx_period_ms': 20,
-         'cmd_watchdog_timeout_ms': 150,
+         'cmd_watchdog_timeout_ms': 500,
         'control_period_ms': 50,
         'robot_frame_id': 'base_footprint',
         'odom_frame_id': 'odom',