手柄控制脚本增加mqtt上报

radio_ctrl.sh

@@ -14,4 +14,7 @@ sleep 0.2
 ros2 run ctrl_arbiter ctrl_arbiter_node &
 sleep 0.2
 
+ros2 run mqtt_report mqtt_report_node &
+sleep 0.2
+
 wait

src/rtk/src/rtk_node.cpp

@@ -21,7 +21,7 @@ public:
 
         // 初始化串口读取
         boost_serial = new Boost_serial();
-        boost_serial->init("/dev/ttyTHS0");
+        boost_serial->init("/dev/ttyTHS1");
 
         // 创建发布者
         command_publisher_ = this->create_publisher<sweeper_interfaces::msg::Rtk>("rtk_message", 10);