打开pid调试

src/ros_arduino_bridge/ros_arduino_python/config/my_arduino_params.yaml

@@ -41,7 +41,7 @@ linear_scale_correction: 1.028
 angular_scale_correction: 1.00
 
 # === PID parameters
-debugPID: False
+debugPID: True
 
 accel_limit: 0.05
 

src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/base_controller.py

@@ -34,7 +34,7 @@ class BaseController:
         self.rate       = float(rospy.get_param("~base_controller_rate", 20))
         self.timeout    = rospy.get_param("~base_controller_timeout", 0.7)
 
-        self.debugPID   = rospy.get_param('/dynamic_tutorials/debugPID', False)
+        self.debugPID   = rospy.get_param('~debugPID', False)
 
         pid_params = dict()
         pid_params['wheel_diameter']     = rospy.get_param("~wheel_diameter", 0.058)