Merge remote-tracking branch 'origin/master'

aarch64/pjibot_delivery/master/package/config/trigger_init.go

@@ -108,6 +108,13 @@ func InitTriggerConfig() {
 				continue
 			}
 			RuleOfTaskFeedbackInfo = append(RuleOfTaskFeedbackInfo, f)
+		} else if TopicOfWheelOdom == topic2 { // 9
+			f, ok := rule.(func(data *nav_msgs.Odometry) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Odometry) string):", err)
+				continue
+			}
+			RuleOfWheelOdom = append(RuleOfWheelOdom, f)
 		} else {
 			c_log.GlobalLogger.Error("未知的topic：", topic2)
 			continue

aarch64/pjibot_delivery/master/package/config/trigger_var.go

@@ -36,4 +36,7 @@ var (
 	// 8
 	TopicOfTaskFeedbackInfo = "/task_feedback_info"
 	RuleOfTaskFeedbackInfo  []func(data *pjibot_delivery_msgs.TaskFeedbackInfo) string
+	// 9
+	TopicOfWheelOdom = "/wheel_odom"
+	RuleOfWheelOdom  []func(data *nav_msgs.Odometry) string
 )

aarch64/pjibot_patrol/master/package/config/trigger_init.go

@@ -108,6 +108,13 @@ func InitTriggerConfig() {
 				continue
 			}
 			RuleOfTaskFeedbackInfo = append(RuleOfTaskFeedbackInfo, f)
+		} else if TopicOfWheelOdom == topic2 { // 9
+			f, ok := rule.(func(data *nav_msgs.Odometry) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Odometry) string):", err)
+				continue
+			}
+			RuleOfWheelOdom = append(RuleOfWheelOdom, f)
 		} else {
 			c_log.GlobalLogger.Error("未知的topic：", topic2)
 			continue

aarch64/pjibot_patrol/master/package/config/trigger_var.go

@@ -36,4 +36,7 @@ var (
 	// 8
 	TopicOfTaskFeedbackInfo = "/task_feedback_info"
 	RuleOfTaskFeedbackInfo  []func(data *pjibot_patrol_msgs.TaskFeedbackInfo) string
+	// 9
+	TopicOfWheelOdom = "/wheel_odom"
+	RuleOfWheelOdom  []func(data *nav_msgs.Odometry) string
 )