SweiLz

For ROS navigation, there is a tf tree map->odom->base_link. The odom pose is the base_link frame pose relative to odom frame. The absolute/global pose is the base_link frame pose relative to map frame. IMU and encoders provide the odom pose which drifts over time and thus only right for a short time. GPS, amcl and indoor position system provide the absolute/global pose. You got odom pose means you got the tf odom->base_link, and you got absolute/global pose means you got base_link pose relative to map. To correct the robot location, you have to provide the tf map->odom, which can be calculated from odom->base_link and base_link pose relative to map.

SweiLz

#include <tf/tf.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Pose2D.h>

ros::Publisher pub_pose_;

void odometryCallback_(const nav_msgs::Odometry::ConstPtr msg) {
    geometry_msgs::Pose2D pose2d;
    pose2d.x = msg->pose.pose.position.x;
    pose2d.y = msg->pose.pose.position.y;

SweiLz

import rospy
from std_msgs.msg import String

pub = rospy.Publisher('topic_name', String, queue_size=10)
rospy.init_node('node_name')
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
    pub.publish("hello world")
r.sleep()

SweiLz

#include "ros/ros.h"
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <diagnostic_msgs/KeyValue.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "diagnostics");
  ros::NodeHandle nh;

SweiLz

#! /usr/bin/env python

import math
import sys

import rospy
import serial
import tf
from geometry_msgs.msg import Twist, Pose2D
from nav_msgs.msg import Odometry

SweiLz

#include <SoftwareSerial.h>

SoftwareSerial ss(8, 2); // RX, TX

void setup() {
  Serial.begin(115200);
  Serial.println("Goodnight moon!");

  ss.begin(115200);
  ss.println("Hello, world?");

SweiLz

#include <mbed.h>

I2C i2c(PB_11, PB_10); // SDA pin, SCL pin
Serial pc(PB_6, PB_7); // TX pin, RX pin

int main()
{
	pc.baud(115200);
	wait_ms(2000);
	pc.printf("Hello World!\n");

SweiLz

#include <Stepper.h>

const int stepsPerRevolution = 2048;

Stepper myStep = Stepper(stepsPerRevolution,8,10,9,11);
void setup() {
 
  myStep.setSpeed(15); // speed in rpm
  Serial.begin(9600);
}

SweiLz

def updateCRC(crc_accum, data_blk_ptr, data_blk_size):
    crc_table = [0x0000,
                 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
                 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027,
                 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
                 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B,
                 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
                 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF,
                 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5,
                 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093,

SweiLz

def calUnit(unit,Ft = -11.6):
    total = 0
    temp_unit = unit
    if unit <= 150:
        print("Case: ","1.1")
    else:
        print("Case: ","1.2")
        if temp_unit > 400:
            total += ((temp_unit-400) * 4.4217)
            temp_unit = 400