tanjianbin/lzwc-terminal-unitreeGo2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor(monitor): 移除调试用的打印语句以清理输出

Browse Source
This commit is contained in:
Sucan126
2025-10-09 16:56:53 +08:00
parent 80060562e8
commit 5b5d390bc4
1 changed files with 25 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
src/monitor.cpp
View File

@@ -40,37 +40,37 @@ void Monitor::sportModeStateCallback(const void* message) {
static_cast<const unitree_go::msg::dds_::SportModeState_*>(message); static_cast<const unitree_go::msg::dds_::SportModeState_*>(message);
// Print position data // Print position data
std::cout << "Position: " // std::cout << "Position: "
<< state->position()[0] << ", " // << state->position()[0] << ", "
<< state->position()[1] << ", " // << state->position()[1] << ", "
<< state->position()[2] << std::endl; // << state->position()[2] << std::endl;
// Print IMU data // // Print IMU data
const auto& imu = state->imu_state(); // const auto& imu = state->imu_state();
std::cout << "IMU Quaternion: " // std::cout << "IMU Quaternion: "
<< imu.quaternion()[0] << ", " // << imu.quaternion()[0] << ", "
<< imu.quaternion()[1] << ", " // << imu.quaternion()[1] << ", "
<< imu.quaternion()[2] << ", " // << imu.quaternion()[2] << ", "
<< imu.quaternion()[3] << std::endl; // << imu.quaternion()[3] << std::endl;
std::cout << "IMU Gyroscope: " // std::cout << "IMU Gyroscope: "
<< imu.gyroscope()[0] << ", " // << imu.gyroscope()[0] << ", "
<< imu.gyroscope()[1] << ", " // << imu.gyroscope()[1] << ", "
<< imu.gyroscope()[2] << std::endl; // << imu.gyroscope()[2] << std::endl;
std::cout << "IMU Accelerometer: " // std::cout << "IMU Accelerometer: "
<< imu.accelerometer()[0] << ", " // << imu.accelerometer()[0] << ", "
<< imu.accelerometer()[1] << ", " // << imu.accelerometer()[1] << ", "
<< imu.accelerometer()[2] << std::endl; // << imu.accelerometer()[2] << std::endl;
std::cout << "IMU RPY: " // std::cout << "IMU RPY: "
<< imu.rpy()[0] << ", " // << imu.rpy()[0] << ", "
<< imu.rpy()[1] << ", " // << imu.rpy()[1] << ", "
<< imu.rpy()[2] << std::endl; // << imu.rpy()[2] << std::endl;
std::cout << "IMU Temperature: " << imu.temperature() << std::endl; // std::cout << "IMU Temperature: " << imu.temperature() << std::endl;
std::cout << "---" << std::endl; // std::cout << "---" << std::endl;
} }
void Monitor::odometryCallback(const void* message) { void Monitor::odometryCallback(const void* message) {