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fix: get_position返回缓存位置防止odom无数据时整体失败；map_navigator ROS_DOMAIN_ID=1

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ywb
2026-05-16 01:26:51 +08:00
parent 368cfd58b0
commit 924f9f3be6
2 changed files with 6 additions and 1 deletions
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agv_app/utils/agv_controller_ros2.py
+5
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@@ -185,8 +185,13 @@ class AGVController:
yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz) yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz)
self._position = [x, y, yaw] self._position = [x, y, yaw]
return self._position return self._position
elif self._connected:
# 连接正常但 odom 暂时无数据，返回缓存位置
return self._position
except Exception as e: except Exception as e:
logger.debug(f"获取位置失败: {e}") logger.debug(f"获取位置失败: {e}")
if self._connected:
return self._position
return None return None
def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool: def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
agv_app/utils/map_navigator.py
+1 -1
View File
@@ -22,7 +22,7 @@ from enum import Enum
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
# ROS2 环境设置（与 agv_controller_ros2.py 保持一致） # ROS2 环境设置（与 agv_controller_ros2.py 保持一致）
ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=0 && source ~/agv_pro_ros2/install/setup.bash" ROS2_SETUP_CMD = "export ROS_DOMAIN_ID=1 && source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
# ========== 坐标转换 ========== # ========== 坐标转换 ==========