# calibration

**Repository Path**: duping812/calibration

## Basic Information

- **Project Name**: calibration
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-10-08
- **Last Updated**: 2024-12-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# calibration

校准差速小车2个电机，实现直线行走和转弯的精确控制。

## 使用说明
小车线速度，角速度标定

1. 启动机器人底盘

roslaunch mbot_navigation mbot_bringup2.launch 

2. 启动直线校准代码

rosrun calibration calibrate_linear.py

3. 打开rqt窗口，选择calibrate_linear，勾选start_test开始测试

rosrun rqt_reconfigure rqt_reconfigure

4. 启动角度校准代码

rosrun calibration calibrate_angular.py

![输入图片说明](https://gitee.com/duping812/duping812/raw/master/images/c1.png)

![输入图片说明](https://gitee.com/duping812/duping812/raw/master/images/c2.png)


记下correction数值，加入ros_arduino_python包下的base_controller.py

![输入图片说明](https://gitee.com/duping812/duping812/raw/master/images/c3.png)

## 参考

[https://blog.csdn.net/qq_29320587/article/details/104842330](https://blog.csdn.net/qq_29320587/article/details/104842330)