默认关闭PID调试,标定参数默认为1;修复电量不足报警时打印信息错误的bug.

src/ros_arduino_bridge/ros_arduino_python/config/my_arduino_params.yaml

@@ -37,11 +37,11 @@ wheel_diameter: 0.058
 wheel_track: 0.109     #L value
 encoder_resolution: 11 #12V DC motors
 gear_reduction: 78    #empty payload rpm 60 r/m
-linear_scale_correction: 1.028
+linear_scale_correction: 1.00
 angular_scale_correction: 1.00
 
 # === PID parameters
-debugPID: True
+debugPID: False
 
 accel_limit: 0.05
 

src/voice_system/voice_alarm/src/voice_alarm_node.cpp

@@ -25,7 +25,7 @@ void AlarmCallback(const ros_arduino_msgs::Digital::ConstPtr &msg)
         std_msgs::String alarm;
         alarm.data = ("当前电量过低，请立即充电。");
         pub.publish(alarm);
-        ROS_WARN("Battery percent now: %d %% , please charge immediately.", msg->value);
+        ROS_WARN("Battery percent now: %d%% , please charge immediately.", batpercent.data);
 	    return;
     }
 
@@ -34,7 +34,7 @@ void AlarmCallback(const ros_arduino_msgs::Digital::ConstPtr &msg)
         std_msgs::String alarm;
         alarm.data = ("电量较低，注意及时充电。");
         pub.publish(alarm);
-        ROS_WARN("Battery percent now: %d %% , please pay attention to charging.", msg->value);
+        ROS_WARN("Battery percent now: %d%% , please pay attention to charging.", batpercent.data);
 	    return;
     }