更新odom信息的self.x变量名

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

@@ -84,8 +84,8 @@ class BaseController:
         self.enc_B = 0
         self.enc_C = 0
 
-        self.x  = 0  # position in xy plane
-        self.y  = 0
+        self.pose_x  = 0  # position in xy plane
+        self.pose_y  = 0
         self.th = 0  # rotation in radians
 
         self.v_A = 0
@@ -217,8 +217,8 @@ class BaseController:
             delta_y  = (vx*sin(self.th) + vy*cos(self.th))*dt
             delta_th = vth*dt
 
-            self.x  += delta_x
-            self.y  += delta_y
+            self.pose_x += delta_x
+            self.pose_y += delta_y
             self.th += delta_th
 
             quaternion   = Quaternion()
@@ -231,8 +231,8 @@ class BaseController:
             odom.header.frame_id = self.odom_name
             odom.child_frame_id  = self.base_frame
             odom.header.stamp    = time_now
-            odom.pose.pose.position.x  = self.x
-            odom.pose.pose.position.y  = self.y
+            odom.pose.pose.position.x  = self.pose_x
+            odom.pose.pose.position.y  = self.pose_y
             odom.pose.pose.position.z  = 0
             odom.pose.pose.orientation = quaternion
             odom.pose.covariance = [1e-9, 0, 0, 0, 0, 0,