修了一下障碍物相关

2026-07-31 16:54:19 +08:00
parent 0c09a97e7f
commit 1d2eeecd5b
24 changed files with 14131 additions and 112 deletions
--- a/src/origincar_base/launch/base_serial.launch.py
+++ b/src/origincar_base/launch/base_serial.launch.py
@@ -6,8 +6,13 @@ def generate_launch_description():
    robot_parameters = [
        {'usart_port_name': '/dev/ttyACM0',
         'serial_baud_rate': 115200,
-         'robot_frame_id': 'base_link',
+         'robot_frame_id': 'base_footprint',
         'odom_frame_id': 'odom',
+         'combined_odom_topic': 'odom_combined',
+         'scan_topic': '/scan',
+         'wall_config_path': '/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json',
+         'publish_tf': True,
+         'wall_scan_stride': 2,
         'cmd_vel': 'cmd_vel',
         'akm_cmd_vel': 'none',
         'product_number': 0,