亚博microros小车-原生ubuntu支持系列：3-云台校准

当小车上电后，舵机云台是这样的角度的 

校准代码：

src/yahboom_esp32_mediapipe/yahboom_esp32_mediapipe/目录下新建文件control_servo.py

import rclpy
from rclpy.node import Node
import time
from std_msgs.msg import Int32


class Servo_Cotrol(Node):
    def __init__(self, name):
        super().__init__(name)
        #控制舵机话题
        self.pub_Servo1 = self.create_publisher(Int32, "servo_s1", 10)
        self.pub_Servo2 = self.create_publisher(Int32, "servo_s2", 10)

        #校准值
        self.PWMServo_X = 0
        self.PWMServo_Y = 0
        self.s1_init_angle = Int32()
        self.s1_init_angle.data = self.PWMServo_X
        self.s2_init_angle = Int32()
        self.s2_init_angle.data = self.PWMServo_Y

        self.pub_Servo2.publish(self.s2_init_angle)
        self.pub_Servo1.publish(self.s1_init_angle)

    def Send_servo_angle(sel