From a61a21e69116284a57f22b2d6b515f4c08df9239 Mon Sep 17 00:00:00 2001 From: Alvin-lyq Date: Wed, 29 Apr 2026 14:29:09 +0800 Subject: [PATCH] debug 13 --- .../rtk_asensing/src/rtk_asensing_node.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/perception/rtk_asensing/src/rtk_asensing_node.cpp b/src/perception/rtk_asensing/src/rtk_asensing_node.cpp index c94f8c9..9240ce6 100644 --- a/src/perception/rtk_asensing/src/rtk_asensing_node.cpp +++ b/src/perception/rtk_asensing/src/rtk_asensing_node.cpp @@ -40,14 +40,14 @@ class RtkAsensingNode : public rclcpp::Node { auto rtk_msg = sweeper_interfaces::msg::Rtk(); - // 从 /Ins 消息中提取数据 - rtk_msg.lat = msg->latitude; - rtk_msg.lon = msg->longitude; - rtk_msg.head = msg->azimuth; - rtk_msg.speed = - std::sqrt(msg->north_velocity * msg->north_velocity + msg->east_velocity * msg->east_velocity); - rtk_msg.p_quality = msg->position_type; - rtk_msg.h_quality = msg->heading_type; + // 从 /Ins 消息中提取数据（通过 imu_msg 子字段） + rtk_msg.lat = msg->imu_msg.latitude; + rtk_msg.lon = msg->imu_msg.longitude; + rtk_msg.head = msg->imu_msg.azimuth; + rtk_msg.speed = std::sqrt(msg->imu_msg.north_velocity * msg->imu_msg.north_velocity + + msg->imu_msg.east_velocity * msg->imu_msg.east_velocity); + rtk_msg.p_quality = msg->imu_msg.position_type; + rtk_msg.h_quality = msg->imu_msg.heading_type; LOG_INFO("Asensing RTK: lat:%.9f, lon:%.9f, heading:%.2f, speed:%.2f, p_quality:%d, h_quality:%d", rtk_msg.lat, rtk_msg.lon, rtk_msg.head, rtk_msg.speed, rtk_msg.p_quality, rtk_msg.h_quality);