HiveCoreRD/hivecore_robot_motion
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update @huiyu

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This commit is contained in:
NuoDaJia02
2026-01-05 09:38:03 +08:00
parent 31aa8dc179
commit 9da5f42bcf
1 changed files with 1 additions and 1 deletions
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src/robot_control/src/robot_control_node.cpp
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@@ -78,7 +78,7 @@ RobotControlNode::RobotControlNode() : Node("robot_control_node")
motorCmdPub_ = this->create_publisher<MotorCmd>("/motor_cmd", 10);
ethercatSetPub_ = this->create_publisher<std_msgs::msg::String>("/ethercat/set", 10);
imuMsgSub_ = this->create_subscription<ImuMsg>("/imu_msg", 10,std::bind(&RobotControlNode::ImuMsgCallback, this, std::placeholders::_1));
imuMsgSub_ = this->create_subscription<ImuMsg>("/openzen/imu_msg", 10,std::bind(&RobotControlNode::ImuMsgCallback, this, std::placeholders::_1));
jointStatesSub_ = this->create_subscription<sensor_msgs::msg::JointState>("/ec_joint_states", 10,std::bind(&RobotControlNode::JointStatesCallback, this, std::placeholders::_1));
wheelStatesSub_ = this->create_subscription<MotorPos>("/motor_pos", 10,std::bind(&RobotControlNode::WheelStatesCallback, this, std::placeholders::_1));
joyCommandSub_ = this->create_subscription<std_msgs::msg::String>("/gamepad_msg", 10,std::bind(&RobotControlNode::JoyCommandCallback, this, std::placeholders::_1));