取消4号位万集测量Y值+13，修改2号位左侧栏杆向一号位移动5cm

terminor/terminal_command_executor.cpp

@@ -509,7 +509,7 @@ Error_manager Terminor_Command_Executor::scanning_measuring() {
     float offset_width = fabs(dj_locate_information.locate_width - wj_locate_information.locate_width);
     float offset_wheel_base = fabs(
             dj_locate_information.locate_wheel_base - wj_locate_information.locate_wheel_base);
-    if (offset_x > 100 || offset_y > 150 || offset_angle > 2.5 || offset_wheel_base > 130 || offset_width > 250) {
+    if (offset_x > 100 || offset_y > 150 || offset_angle > 2.5 || offset_wheel_base > 350 || offset_width > 250) {
         LOG(WARNING) << "chekc failed. (offset x>100, y>150, angle>2.5, wheel_base>130, width>250): " << offset_x
                      << " " << offset_y << " " << offset_angle << " " << offset_wheel_base << " " << offset_width;
         return Error_manager(TERMINOR_CHECK_RESULTS_ERROR, NORMAL, "check results failed ");
@@ -541,16 +541,16 @@ Error_manager Terminor_Command_Executor::scanning_measuring() {
     // 6号位标定地面偏低，高度增加21mm
     // 20210603 2号位加高10mm, 4号位加高5mm
     // 20210925 6号位加高改为13
-    // 20220621 2号位轴距-10, 4号位y+12mm,轴距+20mm, 6号位y+7mm
+    // 20220621 2号位轴距-10, 4号位y+1mm,轴距+20mm, 6号位y+1mm
     if(m_terminor_parameter.id()==5)
     {
         m_measure_information.locate_hight += 13;
-        m_measure_information.locate_y += 7;
+        m_measure_information.locate_y += 1;
     }
     else if(m_terminor_parameter.id()==3)
     {
         m_measure_information.locate_hight += 5;
-        m_measure_information.locate_y +=12;
+        m_measure_information.locate_y +=1;
         m_measure_information.locate_wheel_base += 20;
     }
     else if(m_terminor_parameter.id()==1)

wj_lidar/detect_wheel_ceres.cpp

@@ -705,7 +705,7 @@ bool detect_wheel_ceres::Solve(Detect_result &detect_result, Loss_result &loss_r
         return false;
     }
 
-    if(fabs(detect_result.front_theta)>5.0)
+    if(fabs(detect_result.front_theta)>10.0)
     {
         error_info.append("前轮角度错误 ").append(std::to_string(detect_result.front_theta)).append("\t");
 //        LOG(WARNING) <<"前轮角度错误 "<<detect_result.front_theta;