根据新电机来更新减速比参数

src/robot_description/launch/robot_description.launch

@@ -1,5 +1,5 @@
 <!--
-  Copyright:www.corvin.cn ROS小课堂
+  Copyright: 2016-2021 www.corvin.cn ROS小课堂
   Description:配置机器人各link之间关系,在rviz中显示机器人模型.
   Author:corvin
   History:

src/ros_arduino_bridge/ros_arduino_python/config/my_arduino_params.yaml → src/ros_arduino_bridge/ros_arduino_python/cfg/my_arduino_params.yaml

@@ -35,7 +35,7 @@ odom_name: odom
 wheel_diameter: 0.067
 wheel_track: 0.21     #L value
 encoder_resolution: 11 #12V DC motors
-gear_reduction: 19     #empty payload rpm 130 r/m
+gear_reduction: 30     #empty payload rpm 330 r/m,if rpm=530,gear_reduction=19
 linear_scale_correction: 1.028
 angular_scale_correction: 1.00
 

src/ros_arduino_bridge/ros_arduino_python/launch/arduino.launch

@@ -4,10 +4,11 @@
     启动底盘arduino的上位机launch文件.
   Author: corvin
   History:
-    20200706: init this file.
+    20200706:init this file.
+    20210602:修改加载yaml配置文件时从cfg目录下加载.
 -->
 <launch>
    <node name="mobilebase_arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen" required="true">
-      <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
+      <rosparam file="$(find ros_arduino_python)/cfg/my_arduino_params.yaml" command="load" />
    </node>
 </launch>