更新base_controller.py代码,解决GetYawData导致运行失败的问题,改为getYawData

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

@@ -23,7 +23,7 @@ from nav_msgs.msg import Odometry
 from tf.broadcaster import TransformBroadcaster
 from std_msgs.msg import Int32
 from std_msgs.msg import Float32
-from serial_imu_hat_6dof.srv import GetYawData
+from serial_imu_hat_6dof.srv import getYawData
 
 class SimplePID:
 	'''very simple discrete PID controller'''
@@ -464,7 +464,7 @@ class BaseController:
     def get_yaw(self):
         rospy.wait_for_service(self.yaw_data_service)
         try:
-            yaw_data = rospy.ServiceProxy(self.yaw_data_service, GetYawData)
+            yaw_data = rospy.ServiceProxy(self.yaw_data_service, getYawData)
             resp = yaw_data()
             return resp.yaw
         except rospy.ServiceException, e:
@@ -516,4 +516,4 @@ class BaseController:
         #rospy.loginfo("cmdCallback(): A v_des:"+str(self.v_des_AWheel)+",B v_des:"+str(self.v_des_BWheel)+",C v_des:"+str(self.v_des_CWheel))
 
     def yawCallback(self,req):
-        self.yaw_topic_data = req.data
+        self.yaw_topic_data = req.data