> For the complete documentation index, see [llms.txt](https://docs.movel.ai/new-collection/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.movel.ai/new-collection/fan-ti-zhong-wen/seirios-rns/installation-and-integration-1/pre-installation-checklist/ying-ti-jian-cha/14-zhi-xian-su-du-xiao-zhun-jian-cha.md).

# (1/4) 直線速度校準檢查

{% hint style="warning" %}
需要測試 0.1 - 0.5 m/s 的最小速度。 此外，手動檢查機器人，是否正確覆蓋距離。 我們建議可以錄製影片，以解決可能出現的任何問題。
{% endhint %}

1. 請開啟新的終端窗口，執行以下指令 : `rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"`
2. 更改此數值 `linear: x:` 為0.1-0.5 ，因為我們只想讓機器人直線向前移動。 將所有其他值保留為 0.0。
3. 測量機器人移動的距離。 並記錄從機器人開始移動到機器人停止的時間。 通過將距離除以時間，來計算速度。
4. 檢查您計算的速度，是否與您為線性 x 給出的值匹配。
5. 如果數值不相符合，請重新校準您的車輪。

或者，您可以使用 `rosrun telelop_twist_keyboard teleop_twist_keyboard.py`。 同樣地，給它一個介於 0.1-0.5 之間的直線速度。 然後重複上面的步驟 3 - 5。

請注意:

* 如果您的機器人是非完整性約束的，它應該不能橫向滑動。 y 的數值應該是 0.0。
* 如果您的機器人不具備飛行能力，則 z 應為 0.0。


---

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