motor_controller_diff_drive vs ekf_odom_pub.cpp 这两个节点都要改一下robot的实际参数

/*
 * Author: Automatic Addison
 * Website: https://automaticaddison.com
 * Description: ROS node that publishes the accumulated ticks for each wheel
 * (/right_ticks and /left_ticks topics) at regular intervals using the 
 * built-in encoder (forward = positive; reverse = negative). 
 * The node also subscribes to linear & angular velocity commands published on 
 * the /cmd_vel topic to drive the robot accordingly.
 * Reference: Practical Robotics in C++ book (ISBN-10 : 9389423465)
 */
 
#include <ros.h>
#include <std_msgs/Int16.h>
#include <geometry_msgs/Twist.h>
 
// Handles startup and shutdown of ROS
ros::NodeHandle nh;
 
// Tick Data Publishing Variables and Constants ///
 
// Encoder output to Arduino Interrupt pi