a

robomaster_pi/robot_ros_odom.py

@@ -60,6 +60,7 @@ class Robomaster_odom(Node):
 
     def __init__(self, ep_chassis):
         super().__init__("robomaster_odom")
+        
         def sub_position_handler(position_info):
             print("handler")
             tf_broadcaster = TransformBroadcaster()
@@ -77,6 +78,7 @@ class Robomaster_odom(Node):
             t.transform.rotation.w = q[3]
             tf_broadcaster.sendTransform(t)
             print("ok")
+        
         ep_chassis.sub_position(freq=10, callback=sub_position_handler)
         print("sub")
     

setup.py

@@ -20,7 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "connection = robomaster_pi.conn_odom:main",
+            "conn_odom = robomaster_pi.conn_odom:main",
             "connection = robomaster_pi.connection:main",
             "robot_ros_vel = robomaster_pi.robot_ros_vel:main",
             "robot_ros_odom = robomaster_pi.robot_ros_odom:main",