a

robomaster_pi/Odom.py

+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+import robomaster
+from robomaster import robot
+
+class OdometryPublisher(Node):
+    def __init__(self):
+        super().__init__('odometry_publisher')
+        self.publisher_ = self.create_publisher(Odometry, 'encoder_odometry', 10)
+        self.msg = Odometry()
+        ep_robot = robot.Robot()
+        ep_robot.initialize(conn_type="rndis")
+    
+        ep_chassis = ep_robot.chassis
+        ep_chassis.sub_velocity(freq=50, callback=self.sub_sub_velocity_handler)
+
+    def sub_velocity_handler(self, velocity_info):
+        a, b, c, x, y, z = velocity_info
+        self.msg.header.stamp = self.get_clock().now().to_msg()
+        self.msg.twist.twist.linear.x = x
+        self.msg.twist.twist.linear.y = y
+
+        self.publisher_.publish(self.msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = OdometryPublisher()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file

setup.py

@@ -20,6 +20,8 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            "IMU = robomaster_pi.IMU:main",
+            "Odom = robomaster_pi.Odom:main",
             "conn_odom = robomaster_pi.conn_odom:main",
             "conn_vel = robomaster_pi.conn_vel:main",
         ],