对齐在base_controller.py中获取小车运行参数的python代码

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

@@ -30,24 +30,24 @@ class BaseController:
         self.debugPID   = rospy.get_param('/dynamic_tutorials/debugPID', False)
 	
         pid_params = dict()
-	pid_params['wheel_diameter']     = rospy.get_param("~wheel_diameter", 0.058)
-	pid_params['wheel_track']        = rospy.get_param("~wheel_track", 0.126)
-	pid_params['encoder_resolution'] = rospy.get_param("~encoder_resolution", 11)
-	pid_params['gear_reduction']     = rospy.get_param("~gear_reduction", 46)
-	pid_params['AWheel_Kp'] = rospy.get_param("~AWheel_Kp", 15)
-	pid_params['AWheel_Kd'] = rospy.get_param("~AWheel_Kd", 15)
-	pid_params['AWheel_Ki'] = rospy.get_param("~AWheel_Ki", 0)
-	pid_params['AWheel_Ko'] = rospy.get_param("~AWheel_Ko", 50)
-
-	pid_params['BWheel_Kp'] = rospy.get_param("~BWheel_Kp", 15)
-	pid_params['BWheel_Kd'] = rospy.get_param("~BWheel_Kd", 15)
-	pid_params['BWheel_Ki'] = rospy.get_param("~BWheel_Ki", 0)
-	pid_params['BWheel_Ko'] = rospy.get_param("~BWheel_Ko", 50)
-
-	pid_params['CWheel_Kp'] = rospy.get_param("~CWheel_Kp", 15)
-	pid_params['CWheel_Kd'] = rospy.get_param("~CWheel_Kd", 15)
-	pid_params['CWheel_Ki'] = rospy.get_param("~CWheel_Ki", 0)
-	pid_params['CWheel_Ko'] = rospy.get_param("~CWheel_Ko", 50)
+        pid_params['wheel_diameter']     = rospy.get_param("~wheel_diameter", 0.058)
+        pid_params['wheel_track']        = rospy.get_param("~wheel_track", 0.126)
+        pid_params['encoder_resolution'] = rospy.get_param("~encoder_resolution", 11)
+        pid_params['gear_reduction']     = rospy.get_param("~gear_reduction", 46)
+        pid_params['AWheel_Kp'] = rospy.get_param("~AWheel_Kp", 15)
+        pid_params['AWheel_Kd'] = rospy.get_param("~AWheel_Kd", 15)
+        pid_params['AWheel_Ki'] = rospy.get_param("~AWheel_Ki", 0)
+        pid_params['AWheel_Ko'] = rospy.get_param("~AWheel_Ko", 50)
+
+        pid_params['BWheel_Kp'] = rospy.get_param("~BWheel_Kp", 15)
+        pid_params['BWheel_Kd'] = rospy.get_param("~BWheel_Kd", 15)
+        pid_params['BWheel_Ki'] = rospy.get_param("~BWheel_Ki", 0)
+        pid_params['BWheel_Ko'] = rospy.get_param("~BWheel_Ko", 50)
+
+        pid_params['CWheel_Kp'] = rospy.get_param("~CWheel_Kp", 15)
+        pid_params['CWheel_Kd'] = rospy.get_param("~CWheel_Kd", 15)
+        pid_params['CWheel_Ki'] = rospy.get_param("~CWheel_Ki", 0)
+        pid_params['CWheel_Ko'] = rospy.get_param("~CWheel_Ko", 50)
 
         self.accel_limit  = rospy.get_param('~accel_limit', 0.05)
         self.linear_scale_correction  = rospy.get_param("~linear_scale_correction",  1.0)