amcl change

catkin_ws/src/asclinic_pkg/launch/amcl.launch

@@ -8,13 +8,15 @@
   <!-- 静态 TF 变换: odom 到 base_link -->
   <node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_base" args="0 0 0 0 0 0 odom base_link" />
 
+  <node pkg="tf2_ros" type="static_transform_publisher" name="map_odom_broadcaster"
+      args="0 0 0 0 0 0 map odom"/>
   <!-- 启动 AMCL 节点 -->
   <node name="amcl" pkg="amcl" type="amcl" output="screen">
     <param name="use_map_topic" value="true" />
     <param name="odom_frame_id" value="odom" />
     <param name="base_frame_id" value="base_link" />
     <param name="global_frame_id" value="map" />
-    <param name="scan_topic" value="/asc/scan" />
+    <remap from="scan" to="/asc/scan"/>
     <rosparam file="$(find asclinic_pkg)/param/amcl_params.yaml" command="load" />
   </node>
 

catkin_ws/src/asclinic_pkg/launch/forklift2.launch

@@ -7,11 +7,7 @@
     />
 
     <!-- Launch the I2C for Motors node -->
-    <node
-        pkg="asclinic_pkg"
-        type="odometry_new"
-        name="odometry_new"
-    />
+    
 
     <!-- Launch the control node -->
     <node
@@ -35,4 +31,5 @@
             <param name="angle_compensate" type="bool" value="true"/>
         </node>
     </group>
+    
 </launch>

catkin_ws/src/asclinic_pkg/param/amcl_params.yaml

@@ -6,7 +6,7 @@ max_particles: 2000
 kld_err: 0.05
 kld_z: 0.99
 update_min_d: 0.2
-update_min_a: 0.2
+update_min_a: 0.1
 resample_interval: 1
 transform_tolerance: 0.5
 

catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp

@@ -84,7 +84,7 @@ void pending(){
 void pureRotation(float flag) {
 
     
-    float rotating_pwm = 10;
+    float rotating_pwm = 15;
     float right;
     float left;
     if (flag > 0) {