更新代码结构注释

src/robot_bringup/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(robot_bringup)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -12,12 +12,6 @@ find_package(catkin REQUIRED)
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
 ################################################
 ## Declare ROS messages, services and actions ##
 ################################################
@@ -180,16 +174,3 @@ include_directories(
 #   # myfile2
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_robot_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/robot_bringup/launch/odom_ekf.py

@@ -37,7 +37,7 @@ class OdomEKF():
 
         # Subscribe to the /odom_combined topic
         rospy.Subscriber('input', PoseWithCovarianceStamped, self.pub_ekf_odom)
-        rospy.loginfo("Publishing combined odometry on /odom_ekf")
+        rospy.loginfo("Publishing combined odometry on /odom_ekf topic...")
 
     def pub_ekf_odom(self, msg):
         odom = Odometry()

src/robot_bringup/launch/robot_bringup.launch

@@ -1,5 +1,5 @@
 <!--
-  Copyright: 2016-2020 ROS小课堂 www.corvin.cn
+  Copyright: 2016-2021 ROS小课堂 www.corvin.cn - 上海灵龟机器人有限公司
   Description:robot启动时最先需要启动的launch文件，主要加载各基础功能模块启动。
     首先就需要启动机器人的urdf文件,这样就可以在rviz中可视化显示机器人模型.然后
     启动下位机arduino的程序,上下位机建立连接,这样上位机就可以发送控制命令.接下来
@@ -46,5 +46,4 @@
 
     <!-- (7) startup rasp camera -->
     <include file="$(find rasp_camera)/launch/rasp_camera.launch" />
-
 </launch>

src/robot_bringup/package.xml

@@ -5,9 +5,7 @@
   <description>The robot_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="corvin@todo.todo">corvin</maintainer>
+  <maintainer email="corvin_zhang@corvin.cn">corvin</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -21,39 +19,17 @@
   <!-- Example: -->
   <!-- <url type="website">http://wiki.ros.org/robot_bringup</url> -->
 
-
   <!-- Author tags are optional, multiple are allowed, one per tag -->
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
 
-
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

src/robot_description/launch/display.launch

@@ -2,14 +2,8 @@
   <arg name="model" />
   <arg name="gui" default="False" />
 
-  <param
-    name="robot_description"
-    textfile="$(find robot_description)/urdf/robot.urdf" />
+  <param name="robot_description" textfile="$(find robot_description)/urdf/robot.urdf" />
   <param name="use_gui" value="$(arg gui)" />
-  <node
-    name="rviz"
-    pkg="rviz"
-    type="rviz"
-    args="-d $(find robot_description)/config/urdf.rviz" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_description)/config/urdf.rviz" />
 </launch>
 

src/robot_description/package.xml

@@ -6,7 +6,7 @@
     <p>This package contains configuration data, 3D models and launch files
 for robot_description robot</p>
   </description>
-  <author>me</author>
+  <author>corvin</author>
   <maintainer email="corvin_zhang@corvin.cn" />
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>