优化界面

src/main/qnode.cpp

@@ -87,7 +87,7 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
 
 
     //How fast will we update the robot's movement?
-    double rate = 50;
+    double rate = 1;
     //Set the equivalent ROS rate variable
     ros::Rate loopRate(rate);
 
@@ -138,7 +138,7 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
     twist.angular.y = 0;
     twist.angular.z = speed_turn * th;
 
-    ticks = int(total_times * rate);
+    ticks = int(total_times);
 
     for(int i = 0; i < ticks; i++)
     {