humble to foxy

README.md

@@ -8,8 +8,8 @@
 
 ### 2.1 系统环境
 
-*   **ROS2 版本**：Humble 
+*   **ROS2 版本**：Foxy 
-*   **Ubuntu 版本**：2204
+*   **Ubuntu 版本**：20.04
 
 ### 2.2 .deb 的安装、启动与卸载
 
@@ -19,12 +19,6 @@
 sudo dpkg -i controller_XXXX_arm64.deb
 ```
 
-如果提示依赖缺失（比如 ros-humble-ros-base 没装），可以让 apt 自动补全：
-
-```bash
-sudo apt-get -f install
-```
-
 安装完成后主要文件路径：
 
 工作空间：/opt/controller/

src/mqtt_report/include/mqtt_report/fault_codes.h

@@ -32,12 +32,12 @@ public:
     // 打印所有当前错误码
     void printErrors() const
     {
-        std::cout << "Current error codes: ";
+        // std::cout << "Current error codes: ";
-        for (int code : errors)
+        // for (int code : errors)
-        {
+        // {
-            std::cout << code << " ";
+        //     std::cout << code << " ";
-        }
+        // }
-        std::cout << std::endl;
+        // std::cout << std::endl;
     }
 
     // 获取所有当前错误码

src/radio_ctrl/src/radio_ctrl.cpp

@@ -141,27 +141,27 @@ private:
             // 发布控制消息
             pub_->publish(msg);
 
-            std::cout << "\n  刹车: " << (msg.brake ? "已刹车" : "未刹车")
+            // std::cout << "\n  刹车: " << (msg.brake ? "已刹车" : "未刹车")
-                      << "\n  挡位: ";
+            //           << "\n  挡位: ";
-            switch (msg.gear)
+            // switch (msg.gear)
-            {
+            // {
-            case 0:
+            // case 0:
-                std::cout << "空挡";
+            //     std::cout << "空挡";
-                break;
+            //     break;
-            case 2:
+            // case 2:
-                std::cout << "前进挡";
+            //     std::cout << "前进挡";
-                break;
+            //     break;
-            case 1:
+            // case 1:
-                std::cout << "后退挡";
+            //     std::cout << "后退挡";
-                break;
+            //     break;
-            default:
+            // default:
-                std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")";
+            //     std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")";
-                break;
+            //     break;
-            }
+            // }
-            std::cout << "\n  行走电机转速: " << static_cast<int>(msg.rpm) << " RPM"
+            // std::cout << "\n  行走电机转速: " << static_cast<int>(msg.rpm) << " RPM"
-                      << "\n  轮端转向角度: " << msg.angle << "°"
+            //           << "\n  轮端转向角度: " << msg.angle << "°"
-                      << "\n  清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫")
+            //           << "\n  清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫")
-                      << std::endl;
+            //           << std::endl;
         }
         else
         {

src/radio_ctrl/src/uart_handler.cpp

@@ -84,7 +84,7 @@ bool UartHandler::open_serial()
         return false;
     }
 
-    std::cout << "Serial port " << serial_device << " opened and configured.\n";
+    // std::cout << "Serial port " << serial_device << " opened and configured.\n";
     return true;
 }
 

src/rtk/src/rtk_node.cpp

@@ -39,7 +39,7 @@ private:
 
         if (p_gpybm == NULL)
         {
-            cout << "未检测到GPYBM字符串!" << endl;
+            RCLCPP_INFO(this->get_logger(), "未检测到GPYBM字符串!");
             return;
         }