a

robomaster_pi/robot_ros_odom_wifi.py

@@ -57,7 +57,7 @@ class Robomaster_odom(Node):
             t = TransformStamped()
             t.header.stamp = self.get_clock().now().to_msg()
             t.header.frame_id = 'odom'
-            t.child_frame_id = "base_link"
+            t.child_frame_id = "base_footprint"
             t.transform.translation.x = float(xyzlist[0])
             t.transform.translation.y = float(xyzlist[1])
             t.transform.translation.z = 0.0

robomaster_pi/robot_ros_vel_wifi.py

@@ -24,9 +24,9 @@ s.send(("command;").encode('utf-8'))
 class vel_from_ros_node(Node):
     
     def __init__(self):
-        super().__init__("el_from_ros")
+        super().__init__("vel_from_ros")
         self.get_vel_from_ros_ = self.create_subscription(
-            Twist, "/cmd_vel_out", self.pose_callback, 10)
+            Twist, "/cmd_vel", self.pose_callback, 10)
     
     def pose_callback(self, msg: Twist):
         command = "chassis speed x " + str(msg.linear.x) + " y " + str(msg.linear.y) + " z " + str(msg.angular.z) + ";"