commit

pjibot_guide_msgs/common_msgs.go

@@ -1,4 +1,4 @@
-package pji_msgs
+package pjibot_guide_msgs
 
 import (
 	"github.com/bluenviron/goroslib/v2/pkg/msg"

tools/topic_echo/main/main.go

@@ -1,11 +1,11 @@
 package main
 
 import (
-	pjiConfig "cicv-data-closedloop/aarch64/pji/master/package/config"
+	pjibotGuideConfig "cicv-data-closedloop/aarch64/pjibot_guide/master/package/config"
 	pjisuvConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
 	"cicv-data-closedloop/common/util"
 	"cicv-data-closedloop/kinglong_msgs"
-	"cicv-data-closedloop/pji_msgs"
+	"cicv-data-closedloop/pjibot_guide_msgs"
 	"cicv-data-closedloop/pjisuv_msgs"
 	"fmt"
 	"github.com/bluenviron/goroslib/v2"
@@ -28,9 +28,9 @@ func main() {
 	eType := util.ToString(os.Args[1])
 	topic := util.ToString(os.Args[2])
 
-	if eType == "pjibot" {
+	if eType == "pjibot_guide" {
 		//1 一致
-		if topic == pjiConfig.TopicOfDiagnostics {
+		if topic == pjibotGuideConfig.TopicOfDiagnostics {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
 				Topic: topic,
@@ -39,7 +39,7 @@ func main() {
 				}})
 		}
 		//2 一致
-		if topic == pjiConfig.TopicOfImu {
+		if topic == pjibotGuideConfig.TopicOfImu {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
 				Topic: topic,
@@ -48,16 +48,16 @@ func main() {
 				}})
 		}
 		//3 一致
-		if topic == pjiConfig.TopicOfLocateInfo {
+		if topic == pjibotGuideConfig.TopicOfLocateInfo {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
 				Topic: topic,
-				Callback: func(data *pji_msgs.LocateInfo) {
+				Callback: func(data *pjibot_guide_msgs.LocateInfo) {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
 		//4 一致
-		if topic == pjiConfig.TopicOfObstacleDetection {
+		if topic == pjibotGuideConfig.TopicOfObstacleDetection {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
 				Topic: topic,
@@ -66,7 +66,7 @@ func main() {
 				}})
 		}
 		//5 一致
-		if topic == pjiConfig.TopicOfOdom {
+		if topic == pjibotGuideConfig.TopicOfOdom {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
 				Topic: topic,
@@ -75,11 +75,11 @@ func main() {
 				}})
 		}
 		//6 一致
-		if topic == pjiConfig.TopicOfSysInfo {
+		if topic == pjibotGuideConfig.TopicOfSysInfo {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
 				Topic: topic,
-				Callback: func(data *pji_msgs.SysInfo) {
+				Callback: func(data *pjibot_guide_msgs.SysInfo) {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}