From 9136892277b4a8303ed6c85ff8643277e8800975 Mon Sep 17 00:00:00 2001
From: "zhenghaonan@autolabor.com.cn" <zhenghaonana@autolabor.com.cn>
Date: Mon, 18 Dec 2023 11:14:13 +0800
Subject: [PATCH] 1

---
 .DS_Store        | Bin 6148 -> 6148 bytes
 car/.DS_Store    | Bin 8196 -> 8196 bytes
 car/ChassisM2.md |  13 +++++++++++++
 3 files changed, 13 insertions(+)

diff --git a/.DS_Store b/.DS_Store
index 2ea5890103dbe7e4db367011cf14042601265c80..2a4bb13dc552c6ff0918cc68441948bad5e21400 100644
GIT binary patch
delta 69
zcmZoMXffEZpM`P9<O3{)>Jrt}#ulbJ3dUx}wK@vbmPQ6T3MQ5owY8iaqRRT#LGjr+
Zxq10rlOtK>8M`-Evi31;X5;wB4*={C6&?Tp

delta 70
zcmZoMXffEZpM`Pf<O3{)8j{u3h6cvQIts?-Cbc>W)t1KQAhtnmEhmSlvc7dte0EN5
YUViuF2v&K<p3N1keN3C#IsWnk0Q;I1M*si-

diff --git a/car/.DS_Store b/car/.DS_Store
index 08fc43df6866d553a81e46cea345076369ede724..f3eb79890850f974e3cc47f397b19e1865c765fd 100644
GIT binary patch
delta 322
zcmZp1XmOa}FDlBwz`)4BAi%&-%#aDhz6?eT3L6Wju}^H^-OSFx!ch-WA<E#)kin1$
zlt)s<U<ibIC}b`}N<m4IPib*U5m1*aLoh=nP)7+vDnl-VK0_EoK0^*eDUh8C6xC;N
z0h(9>#QF@OKz=Gi5m>YeXj3Xf9z#0V#{7C9GZBbE%JUhLq1y9+8bL;+fW`C~9D(8`
zVB-@Rl7Ms(Lp;zLBcO_8pzb0dO{ypSpq`k_FCe*@M?jioW5X$?&Fm82SSCLgcG%c(
GoCyHdT0fou

delta 61
zcmZp1XmOa}FDlHyz`)4BAi%&-%#aDhz6?eTdK(L;u}^H^-OSFx!oeuKSxHcuWwScZ
Q1Ln=_65m)hR<JVz0FW~dDF6Tf

diff --git a/car/ChassisM2.md b/car/ChassisM2.md
index dd98cd0..491bf5e 100644
--- a/car/ChassisM2.md
+++ b/car/ChassisM2.md
@@ -99,6 +99,19 @@ CANBus串口波特率
 转向轮实时绝对转角，单位rad
 ```
 
+/left_wheel_vel ([std_msgs/Float64](http://docs.ros.org/api/std_msgs/html/msg/Float64.html))
+
+```
+左轮转速，单位m/s。如果需要获得编码器读取的原始转速，只需要将轮速除以车轮半径0.16m即可。
+```
+
+/right_wheel_vel ([std_msgs/Float64](http://docs.ros.org/api/std_msgs/html/msg/Float64.html))
+
+```
+右轮转速，单位m/s。如果需要获得编码器读取的原始转速，只需要将轮速除以车轮半径0.16m即可。
+```
+
+
 #### 2.2.3 服务
 
 /reset_odom ([std_srvs::Empty](http://docs.ros.org/api/std_srvs/html/srv/Empty.html))