gc更改前的推送

2026-08-06 18:57:54 +08:00
parent 8991e5208e
commit 173670e194
18 changed files with 542 additions and 149 deletions
--- a/src/origincar_base/launch/base_serial.launch.py
+++ b/src/origincar_base/launch/base_serial.launch.py
@@ -6,6 +6,10 @@ def generate_launch_description():
    robot_parameters = [
        {'usart_port_name': '/dev/ttyACM0',
         'serial_baud_rate': 921600,
+         'serial_read_timeout_ms': 20,
+         'tx_period_ms': 20,
+         'cmd_watchdog_timeout_ms': 150,
+         'control_period_ms': 50,
         'robot_frame_id': 'base_footprint',
         'odom_frame_id': 'odom',
         'combined_odom_topic': 'odom_combined',