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Auto commit at 2025-05-29 15:10:41

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cxh 2025-05-29 15:10:41 +08:00
parent ec1acd4f53
commit 2fc12618be
1 changed files with 5 additions and 1 deletions
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6
src/mqtt_report/src/mqtt_report.cpp
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@ -38,6 +38,8 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
float gear_ratio = 32.0; float gear_ratio = 32.0;
float wheel_radius = 0.15; // 轮胎半径，单位米 float wheel_radius = 0.15; // 轮胎半径，单位米
float vehicle_speed_kmh = (2 * 3.1416 * wheel_radius * (motorspeed / gear_ratio) * 60.0) / 1000.0; float vehicle_speed_kmh = (2 * 3.1416 * wheel_radius * (motorspeed / gear_ratio) * 60.0) / 1000.0;
// 保留两位小数
vehicle_speed_kmh = std::round(vehicle_speed_kmh * 100.0f) / 100.0f;
info_report.speed = vehicle_speed_kmh; info_report.speed = vehicle_speed_kmh;
break; break;
} }
@ -256,12 +258,14 @@ int main(int argc, char **argv)
if (!load_config(config)) if (!load_config(config))
{ {
std::cerr << "Failed to load MQTT config." << std::endl; RCLCPP_ERROR(rclcpp::get_logger("main"), "Failed to load MQTT config.");
return 1; return 1;
} }
auto node = std::make_shared<CanDataSubscriber>(config); auto node = std::make_shared<CanDataSubscriber>(config);
RCLCPP_INFO(node->get_logger(), "MqttReport node started.");
rclcpp::spin(node); rclcpp::spin(node);
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;