大家好，我是买买买的小鱼，今天又买了一对扫地机的轮子，一共20大洋，前两天拆了充电桩，经过后台小伙伴提醒，拆掉了外壳，就可以看到反光纸。
雷达打在这个纸上会因为反光程度不同，获取到特征，这个小鱼昨晚回来看反编译的代码也找到了相关函数。
说完这个充电桩就说说充电
小鱼把对桩的线直接焊接到了充电桩上，很快就充满了
奈何手头没有万用表，还是不知道多少V的电压
前面的唠叨完了，现在我们继续来试试能不能连接到机器人，获取到数据
因为小鱼用的电脑是Ubuntu22
$ lsb_release -a
---
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 22.04.3 LTS
Release: 22.04
Codename: jammy
而之前说的那个player库太老了
https://github.com/playerproject/player.git
存在版本不兼容问题
怎么办？
用Docker呗
在小鱼电脑上一行命令
docker run -it --net=host osrf/ros:indigo-desktop-full /bin/bash
然后再试试
root@fishros-KLVC-WXX9:/# lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 14.04.6 LTS
Release: 14.04
Codename: trusty
get 一个安装好ROS 的Ubuntu14系统
克隆代码
root@fishros-KLVC-WXX9:/# git clone http://github.fishros.org/https://github.com/playerproject/player
Cloning into 'player'...
remote: Enumerating objects: 52620, done.
remote: Counting objects: 100% (21/21), done.
remote: Compressing objects: 100% (12/12), done.
remote: Total 52620 (delta 5), reused 12 (delta 3), pack-reused 52599
Receiving objects: 100% (52620/52620), 13.15 MiB | 1.16 MiB/s, done.
Resolving deltas: 100% (41608/41608), done.
Checking connectivity... done.
还是要用小鱼的github镜像才方便
看一下有哪些东西
root@fishros-KLVC-WXX9:/# cd player/
root@fishros-KLVC-WXX9:/player# ls
AUTHORS PlayerCPackOptions.cmake.in copyright_header.lib libplayersd rtk2
CMakeLists.txt README.md design libplayertcp server
CMake_Todo.txt client_libs doc libplayerutil utils
CONTRIBUTING.md cmake examples libplayerwkb win32_todo.txt
COPYING config libplayercommon patch
COPYING.lib config.h.in libplayercore playerconf
ChangeLog copyright_header libplayerinterface playerconfig.h.in
INSTALL copyright_header.examples libplayerjpeg replace
准备编译，先CMAKE
root@fishros-KLVC-WXX9:/player# mkdir build
root@fishros-KLVC-WXX9:/player# cd build/
root@fishros-KLVC-WXX9:/player/build# cmake ..
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Player version 3.1.1-dev
-- Operating system is Linux
-- Player will be installed to /usr/local
-- Headers will be installed to /usr/local/include/player-3.1
-- Libraries will be installed to /usr/local/lib/x86_64-linux-gnu
-- Plugins will be installed to /usr/local/lib/x86_64-linux-gnu/player-3.1
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")
-- Looking for include file stdint.h
-- Looking for include file stdint.h - found
-- Looking for getaddrinfo
-- Looking for getaddrinfo - found
...
-- ----- Processing driver make files -----
-- Looking for C++ include Device.h
-- Looking for C++ include Device.h - not found
-- Looking for include file alsa/asoundlib.h
-- Looking for include file alsa/asoundlib.h - not found
-- checking for module 'artoolkitplus>=2.2'
-- package 'artoolkitplus>=2.2' not found
-- Looking for include files stdio.h, jpeglib.h
-- Looking for include files stdio.h, jpeglib.h - found
-- checking for module 'opencv'
-- found opencv, version 2.4.8
-- Looking for include files sys/types.h, linux/videodev.h
-- Looking for include files sys/types.h, linux/videodev.h - not found
...
-- checking for module 'libpqxx'
-- package 'libpqxx' not found
-- checking for module 'libnl-1'
-- package 'libnl-1' not found
-- Looking for include files sys/socket.h, linux/wireless.h
-- Looking for include files sys/socket.h, linux/wireless.h - found
-- Looking for include file libparticle.h
-- Looking for include file libparticle.h - not found
-- ----- Done -----
--
-- ===== Drivers =====
-- The following drivers will be built:
-- AioToSonar
-- accel_calib
...
--
-- ===== Examples =====
-- ====================
--
-- ===== Player utilities =====
-- playernav will not be built - Gnome Canvas not found
-- Looking for gtk_dialog_new_with_buttons
-- Looking for gtk_dialog_new_with_buttons - found
-- Looking for gtk_button_set_use_stock
-- Looking for gtk_button_set_use_stock - found
-- Looking for gtk_dialog_run
-- Looking for gtk_dialog_run - found
-- checking for module 'gsl'
-- package 'gsl' not found
-- pmap utilities will not be built - GSL not found
-- XMMS plugin will not be built - XMMS not found
-- ============================
--
-- Configuring done
-- Generating done
-- Build files have been written to: /player/build
构建
[100%] Building CXX object utils/playerprop/CMakeFiles/playerprop.dir/playerprop.o
Linking CXX executable randomwalk
[100%] Built target randomwalk
Scanning dependencies of target player
[100%] Building CXX object server/CMakeFiles/player.dir/server.o
Linking CXX executable player
Linking CXX executable sonarobstacleavoid
Linking CXX executable speech
[100%] Built target sonarobstacleavoid
[100%] Built target speech
[100%] Built target player
Linking CXX executable speech_cpp_client
Linking CXX executable wallfollow
[100%] Built target speech_cpp_client
[100%] Built target wallfollow
Linking CXX executable playerjoy
[100%] Built target playerjoy
Linking CXX executable playerprint
[100%] Built target playerprint
Linking CXX executable playerprop
[100%] Built target playerprop
构建完成，看看提供的Example代码
小鱼把默认的 localhost 改成扫地机的地址，默认的端口之前我们扫描过，没啥毛病
简单改改代码，把超声波和位置都拿出来
#include <iostream>
#include <libplayerc++/playerc++.h>
int main(int argc, char *argv[])
{
using namespace PlayerCc;
//PlayerClient robot("localhost");
PlayerClient robot("192.168.31.103");
SonarProxy sp(&robot,0);
Position2dProxy pp(&robot,0);
// robot.
for(;;)
{
double turnrate, speed;
// read from the proxies
robot.Read();
// print out sonars for fun
std::cout << pp << std::endl;
}
}
重新构建运行
./example0
playerc warning : warning : [Player v.3.1.0-svn] connected on [192.168.31.103:6665] with sock 3
链接成功，但是啥都没有
。。。
怎么办？
看着扫地机上的指示灯，是不是没唤醒呢？
点一下清扫按键
有了～
#Position2D (4:0)
#xpos ypos theta speed sidespeed turn stall
0.0334906 -0.00478894 -0.284061 0 0 0.00104328 1
#Position2D (4:0)
#xpos ypos theta speed sidespeed turn stall
0.0334906 -0.00478894 -0.284061 0 0 -0.00108854 1
#Position2D (4:0)
#xpos ypos theta speed sidespeed turn stall
0.0334906 -0.00478894 -0.284061 0 0 -2.26265e-05 1
#Position2D (4:0)
#xpos ypos theta speed sidespeed turn stall
0.0334906 -0.00478894 -0.284061 0 0 -0.00108854 1
分析下这些数据
* `xpos`: 实体的x位置。
* `ypos`: 实体的y位置。
* `theta`: 实体的方向或角度。
* `speed`: 实体的速度。
* `sidespeed`: 实体的侧向速度。
* `turn`: 实体的转向速度或角速度。
* `stall`: 可能是表示实体是否处于停滞或阻塞状态的一个标志，值为1可能表示实体当前处于停滞状态。
既然如此，我们再来搞搞雷达数据
写代码
#include <iostream>
#include <libplayerc++/playerc++.h>
int
main(int argc, char *argv[])
{
using namespace PlayerCc;
PlayerClient robot("192.168.31.103");
LaserProxy lp(&robot,0);
// robot.
for(;;)
{
robot.Read();
std::cout<<lp<<std::endl;
}
}
run
写代码
#min max res count range_res
0 0 0 360 0
#range bearing intensity
0.116 -91.8422 0 0 -82.8482 0 0 -83.7693 32 0 -84.6905 192 0 -85.6117 00 -86.5328 0 0 -87.454 160 0 -88.3752 0 0 -89.2963 0 0 -90.2175 0 0-91.1387 160 0 -92.0599 0 0 -94.4 0 0 -95.3212 0 0.144 -104.225 160 0.145 -105.091 0 0 -98.0847 0 0 -99.0058 0 0 -99.927 160 0 -100.848 0 0 -101.769 0 0 -102.691 0 0 -103.612 160 0 -104.533 0 0 -105.454 0 0 -106.375 0 0 -107.296 160 0.321 -111.783 0 0 -109.139 0 0 -110.06 0 0 -112.4160 0 -113.321 0 0 -114.242 0 0 -115.164 0 0 -116.085 160 0 -117.006 0 0 -117.927 0 0 -118.848 0 0 -119.769 160 0 -120.691 0 0 -121.612 0 0 -122.533 0 0 -124.4 160 0 -125.321 0 0 -126.242 0 0 -127.164 0 0 -128.085 160 0 -129.006 0 1.024 -131.041 0 1.021 -131.965 0 1.019 -132.888 160 1.021 -133.807 0 1.024 -134.725 0 1.028 -135.642 0 1.03 -137.507 128 1.034 -138.424 0 1.032 -139.347 0 1.022 -140.279 0 1.018 -141.205 0 1.024 -142.119 19 1.028 -143.036 0 1.031 -143.954 0 1.041 -144.865 0 1.044 -145.783 43 1.049 -146.699 0 1.053 -147.616 0 1.061 -149.474 128 1.069 -150.387 0 1.074 -151.304 0 1.083 -152.216 0 1.088 -153.133 128 1.096 -154.046 0 1.084 -154.979 0 1.034 -155.951 0 0.985 -156.928 128 0.935 -157.911 0 0.892 -158.891 0 0.85 -159.876 0 0.777 -161.868 128 0.748 -162.846 0 0.72 -163.827 0 0.697 -164.801 0 0.677 -165.771 128 0.653 -166.754 0 0.632 -167.734 0 0.615 -168.705 0 0.598 -169.679 128 0.578 -170.667 0 0.563 -171.641 0 0.546 -172.625 0 0.526 -174.571 128 0.513 -175.548 0 0.504 -176.509 0 0.492 -177.486 0 0.481 -178.46 128 0.473 -179.422 0 0.465 179.615 0 0.455 178.64 0 0.446 177.667 128 0.437 176.693 0 0.43 175.729 0 0.422 174.7570 0.409 172.805 128 0.403 171.842 0 0.398 170.885 0 0.392 169.919 0 0.388 168.968 128 0.382 168 0 0.378 167.047 0 0.374 166.093 0 0.369 165.13 0 0.365 164.175 1 0.361 163.219 0 0.357 162.262 0 0.353 160.359 128 0.349 159.4 0 0.346 158.45 0 0.342 157.49 0 0.34 156.549 128 0.336 155.587 0 0.335 154.6560 0.331 153.693 0 0.329 152.751 128 0.328 151.819 0 0.326 150.876 0 0.324 149.933 0 0.32 148.023 128 0.32 147.102 0 0.317 146.146 0 0.317 145.225 0 0.314 144.269 128 0.314 143.348 0 0.313 142.415 0 0.311 141.47 0 0.312 140.56 128 0.311 139.627 0 0.31 138.693 0 0.31 137.772 0 0.308 135.883 128 0.309 134.9740 0.308 134.04 0 0.308 133.119 0 0.307 132.185 128 0.308 131.276 0 0.309 130.367 0 0.309 129.445 0 0.309 128.524 128 0.31 127.614 0 0.31 126.693 0 0.31 125.772 0 0.312 123.931 128 0.312 123.009 0 0.314 122.112 0 0.314 121.19 0 0.316 120.292 128 0.317 119.382 0 0.319 118.483 0 0.327 117.65 0 0 120.229128 0 119.307 0 0.321 114.82 0 0.326 113.954 0 0.33 112.132 128 0.33 111.211 0 0.333 110.321 0 0.336 109.43 0 0.338 108.529 128 0.339 107.618 0 0.341 106.717 0 0.345 105.834 0 0.347 104.932 128 0.35 104.039 0 0.354 103.155 0 0.358 102.27 0 0.365 100.466 128 0.375 99.6287 0 0 101.757 0 0 100.8360 0 99.9148 128 0 98.9934 0 0 98.0721 0 0.38 94.1412 0 0.374 93.1714 128 0.376 92.2664 0 0.419 91.6586 0 0.435 90.838 0 0.438 88.9905 128 0.44 88.0811 0 0.443 87.1776 0 0.446 86.2737 0 0.452 85.3866 128 0.458 84.4986 0 0.468 83.6309 0 0.478 82.7609 0 0.484 81.8694 1 0.496 81.0054 126 0.506 80.12990 0.513 79.2395 0 0.524 77.4203 1 0.533 76.536 163 0.538 75.6347 0 0.549 74.7562 0 0.553 73.85 1 074.9937 152 0 74.0724 0 0 73.1512 0 0.68 70.5517 33 0 71.3086 77 0 70.3874 0 0 69.46610 0 67.6 33 0 66.6787 57 0 65.7573 0 0.879 63.5386 0 0.844 62.5633 33 0.858 61.6641 84 0.918 60.8298 0 0.988 59.9966 0 0 60.2291 33 1.133 58.3018 93 1.19 57.4287 0 1.257 56.5585 0 0 55.6 33 0.114 44.5893 107 0 53.7573 0 0.209 47.3466 0 0.195 46.0288 33 0 50.9932 109 0 50.07180 0 49.1505 0 0 48.2291 34 0.138 38.9769 15 0.136 37.9326 0 0.128 36.4812 0 0.126 34.4731 34 0.125 33.4786 39 0.125 32.5571 0 0.125 31.6357 0 0.126 30.7875 34 0.124 29.7185 20 0.122 28.6448 0 0.119 27.4852 0 0.117 26.3984 34 0.115 25.3058 16 0.113 24.2072 0 0.113 23.2858 0 0 31.6 34 0 30.678612 0 29.7572 0 0 28.8358 0 0 27.9144 33 0 26.993 233 0 26.0716 0 0 25.1501 0 024.2287 34 0 23.3073 34 0 22.3859 0 0 21.4645 0 0 19.6 34 0 18.6786 19 0 17.75730 0 16.8359 0 0 15.9146 33 0 14.9932 241 0 14.0718 0 0 13.1505 0 0 12.2291 34 011.3078 7 0 10.3864 0 0 9.46504 0 0 7.6 34 0 6.67864 15 0 5.75728 0 0 4.835920 0 3.91456 33 0 2.9932 238 0 2.07184 0 0 1.15048 0 0 0.22912 33 0 -0.69224 253 0 -1.6136 0 0 -2.53496 0 0 -4.4 34 0 -5.32136 19 0 -6.24291 0 0-7.16437 0 0 -8.08582 33 0 -9.00728 205 0 -9.92874 0 0 -10.8502 0 0-11.7716 32 0 -12.6931 197 0 -13.6146 0 0 -14.536 0 0 -16.4 32 0 -17.3215 155 0 -18.2429 0 0 -19.1644 0 0 -20.0858 32 0 -21.0073 143 0 -21.9287 0 0 -22.8502 0 0 -23.7716 0 0 -24.6931 152 0 -25.6146 0 0 -26.536 0 0 -28.4 0 0 -29.3215 170 0 -30.243 0 0 -31.1645 0 0 -32.086 0 0-33.0075 149 0 -33.929 0 0 -34.8505 0 0 -35.772 0 0 -36.6935 195 0 -37.6150 0 -38.5365 0 0 -40.4 0 0 -41.3215 176 0 -42.243 0 0.11 -53.6209 0 0.11 -54.5424 0 0.111 -55.3697 178 0.112 -56.1987 0 0.112 -57.1202 0 0.113 -57.9507 00.114 -58.7829 208 0.114 -59.7044 0 0.116 -60.4518 0 0.118 -62.1469 0 0.119 -62.9864 201 0.12 -63.827 0 0 -55.1642 0 0 -56.0856 0 0 -57.007 222 0 -57.9284 0 0-58.8499 0 0 -59.7713 0 0 -60.6927 212 0 -61.6141 0 0 -62.5355 0 0-64.4 0 0 -65.3214 218 0 -66.2428 0 0 -67.1642 0 0 -68.0856 0 0.11 -79.4635 243 0.111 -80.2906 0 0.111 -81.212 0 0.111 -82.1335 0 0.112 -82.9623 243 0.115 -83.6156 0 0.114 -84.6248 0 0 -76.4 0 0 -77.3214 248 0.117 -88.0729 0 0.117 -88.9942 0 0.116 -90.0003 1 0.116 -90.9215 7
#Position2D (4:0)
#xpos ypos theta speed sidespeed turn stall
0.0334906 -0.00478894 -0.284061 0 0 -0.00108854 1
#min max res count range_res
0 0 0 360 0
#range bearing intensity
0.116 -91.8422 0 0 -82.8482 0 0 -83.7693 32 0 -84.6905 192 0 -85.6117 00 -86.5328 0 0 -87.454 160 0 -88.3752 0 0 -89.2963 0 0 -90.2175 0 0-91.1387 160 0 -92.0599 0 0 -94.4 0 0 -95.3212 0 0.144 -104.225 160 0.145 -105.091 0 0 -98.0847 0 0 -99.0058 0 0 -99.927 160 0 -100.848 0 0 -101.769 0 0 -102.691 0 0 -103.612 160 0 -104.533 0 0 -105.454 0 0 -106.375 0 0 -107.296 160 0.321 -111.783 0 0 -109.139 0 0 -110.06 0 0 -112.4160 0 -113.321 0 0 -114.242 0 0 -115.164 0 0 -116.085 160 0 -117.006 0 0 -117.927 0 0 -118.848 0 0 -119.769 160 0 -120.691 0 0 -121.612 0 0 -122.533 0 0 -124.4 160 0 -125.321 0 0 -126.242 0 0 -127.164 0 0 -128.085 160 0 -129.006 0 1.024 -131.041 0 1.021 -131.965 0 1.019 -132.888 160 1.021 -133.807 0 1.024 -134.725 0 1.028 -135.642 0 1.03 -137.507 128 1.034 -138.424 0 1.032 -139.347 0 1.022 -140.279 0 1.018 -141.205 0 1.024 -142.119 19 1.028 -143.036 0 1.031 -143.954 0 1.041 -144.865 0 1.044 -145.783 43 1.049 -146.699 0 1.053 -147.616 0 1.061 -149.474 128 1.069 -150.387 0 1.074 -151.304 0 1.083 -152.216 0 1.088 -153.133 128 1.096 -154.046 0 1.084 -154.979 0 1.034 -155.951 0 0.985 -156.928 128 0.935 -157.911 0 0.892 -158.891 0 0.85 -159.876 0 0.777 -161.868 128 0.748 -162.846 0 0.72 -163.827 0 0.697 -164.801 0 0.677 -165.771 128 0.653 -166.754 0 0.632 -167.734 0 0.615 -168.705 0 0.598 -169.679 128 0.578 -170.667 0 0.563 -171.641 0 0.546 -172.625 0 0.526 -174.571 128 0.513 -175.548 0 0.504 -176.509 0 0.492 -177.486 0 0.481 -178.46 128 0.473 -179.422 0 0.465 179.615 0 0.455 178.64 0 0.446 177.667 128 0.437 176.693 0 0.43 175.729 0 0.422 174.7570 0.409 172.805 128 0.403 171.842 0 0.398 170.885 0 0.392 169.919 0 0.388 168.968 128 0.382 168 0 0.378 167.047 0 0.374 166.093 0 0.369 165.13 0 0.365 164.175 1 0.361 163.219 0 0.357 162.262 0 0.353 160.359 128 0.349 159.4 0 0.346 158.45 0 0.342 157.49 0 0.34 156.549 128 0.336 155.587 0 0.335 154.6560 0.331 153.693 0 0.329 152.751 128 0.328 151.819 0 0.326 150.876 0 0.324 149.933 0 0.32 148.023 128 0.32 147.102 0 0.317 146.146 0 0.317 145.225 0 0.314 144.269 128 0.314 143.348 0 0.313 142.415 0 0.311 141.47 0 0.312 140.56 128 0.311 139.627 0 0.31 138.693 0 0.31 137.772 0 0.308 135.883 128 0.309 134.9740 0.308 134.04 0 0.308 133.119 0 0.307 132.185 128 0.308 131.276 0 0.309 130.367 0 0.309 129.445 0 0.309 128.524 128 0.31 127.614 0 0.31 126.693 0 0.31 125.772 0 0.312 123.931 128 0.312 123.009 0 0.314 122.112 0 0.314 121.19 0 0.316 120.292 128 0.317 119.382 0 0.319 118.483 0 0.327 117.65 0 0 120.229128 0 119.307 0 0.321 114.82 0 0.326 113.954 0 0.33 112.132 128 0.33 111.211 0 0.333 110.321 0 0.336 109.43 0 0.338 108.529 128 0.339 107.618 0 0.341 106.717 0 0.345 105.834 0 0.347 104.932 128 0.35 104.039 0 0.354 103.155 0 0.358 102.27 0 0.365 100.466 128 0.375 99.6287 0 0 101.757 0 0 100.8360 0 99.9148 128 0 98.9934 0 0 98.0721 0 0.38 94.1412 0 0.374 93.1714 128 0.376 92.2664 0 0.419 91.6586 0 0.435 90.838 0 0.438 88.9905 128 0.44 88.0811 0 0.443 87.1776 0 0.446 86.2737 0 0.452 85.3866 128 0.458 84.4986 0 0.468 83.6309 0 0.478 82.7609 0 0.484 81.8694 1 0.496 81.0054 126 0.506 80.12990 0.513 79.2395 0 0.524 77.4203 1 0.533 76.536 163 0.538 75.6347 0 0.549 74.7562 0 0.553 73.85 1 074.9937 152 0 74.0724 0 0 73.1512 0 0.68 70.5517 33 0 71.3086 77 0 70.3874 0 0 69.46610 0 67.6 33 0 66.6787 57 0 65.7573 0 0.879 63.5386 0 0.844 62.5633 33 0.858 61.6641 84 0.918 60.8298 0 0.988 59.9966 0 0 60.2291 33 1.133 58.3018 93 1.19 57.4287 0 1.257 56.5585 0 0 55.6 33 0.114 44.5893 107 0 53.7573 0 0.209 47.3466 0 0.195 46.0288 33 0 50.9932 109 0 50.07180 0 49.1505 0 0 48.2291 34 0.138 38.9769 15 0.136 37.9326 0 0.128 36.4812 0 0.126 34.4731 34 0.125 33.4786 39 0.125 32.5571 0 0.125 31.6357 0 0.126 30.7875 34 0.124 29.7185 20 0.122 28.6448 0 0.119 27.4852 0 0.117 26.3984 34 0.115 25.3058 16 0.113 24.2072 0 0.113 23.2858 0 0 31.6 34 0 30.678612 0 29.7572 0 0 28.8358 0 0 27.9144 33 0 26.993 233 0 26.0716 0 0 25.1501 0 024.2287 34 0 23.3073 34 0 22.3859 0 0 21.4645 0 0 19.6 34 0 18.6786 19 0 17.75730 0 16.8359 0 0 15.9146 33 0 14.9932 241 0 14.0718 0 0 13.1505 0 0 12.2291 34 011.3078 7 0 10.3864 0 0 9.46504 0 0 7.6 34 0 6.67864 15 0 5.75728 0 0 4.835920 0 3.91456 33 0 2.9932 238 0 2.07184 0 0 1.15048 0 0 0.22912 33 0 -0.69224 253 0 -1.6136 0 0 -2.53496 0 0 -4.4 34 0 -5.32136 19 0 -6.24291 0 0-7.16437 0 0 -8.08582 33 0 -9.00728 205 0 -9.92874 0 0 -10.8502 0 0-11.7716 32 0 -12.6931 197 0 -13.6146 0 0 -14.536 0 0 -16.4 32 0 -17.3215 155 0 -18.2429 0 0 -19.1644 0 0 -20.0858 32 0 -21.0073 143 0 -21.9287 0 0 -22.8502 0 0 -23.7716 0 0 -24.6931 152 0 -25.6146 0 0 -26.536 0 0 -28.4 0 0 -29.3215 170 0 -30.243 0 0 -31.1645 0 0 -32.086 0 0-33.0075 149 0 -33.929 0 0 -34.8505 0 0 -35.772 0 0 -36.6935 195 0 -37.6150 0 -38.5365 0 0 -40.4 0 0 -41.3215 176 0 -42.243 0 0.11 -53.6209 0 0.11 -54.5424 0 0.111 -55.3697 178 0.112 -56.1987 0 0.112 -57.1202 0 0.113 -57.9507 00.114 -58.7829 208 0.114 -59.7044 0 0.116 -60.4518 0 0.118 -62.1469 0 0.119 -62.9864 201 0.12 -63.827 0 0 -55.1642 0 0 -56.0856 0 0 -57.007 222 0 -57.9284 0 0-58.8499 0 0 -59.7713 0 0 -60.6927 212 0 -61.6141 0 0 -62.5355 0 0-64.4 0 0 -65.3214 218 0 -66.2428 0 0 -67.1642 0 0 -68.0856 0 0.11 -79.4635 243 0.111 -80.2906 0 0.111 -81.212 0 0.111 -82.1335 0 0.112 -82.9623 243 0.115 -83.6156 0 0.114 -84.6248 0 0 -76.4 0 0 -77.3214 248 0.117 -88.0729 0 0.117 -88.9942 0 0.116 -90.0003 1 0.116 -90.9215 7
#Position2D (4:0)
#xpos ypos theta speed sidespeed turn stall
0.0334906 -0.00478894 -0.284061 0 0 -2.26265e-05 1
看到了数据，真的太完美了
那能不能控制轮子呢？
可惜小鱼的轮子是坏的，手头没有工具，连拆开都做不到，直接买两个吧
等到了轮子再跟大家揭秘～
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