recharge

src/wheelchair_state_machine/include/wheelchair_state_machine/rotation_manager.hpp

@@ -7,6 +7,7 @@
 #include <memory>
 #include <std_msgs/msg/string.hpp>
 #include<std_msgs/msg/int32.hpp>
+#include<std_msgs/msg/bool.h>
 #include "recharge_status.hpp"
 
 class RotationManager

src/wheelchair_state_machine/src/lidascan_ctrl.cpp

@@ -648,6 +648,7 @@ void LidarScanController::controlRechargeMotion(const RechargeResult &result)
         auto msg =std_msgs::msg::Int32();
         msg.data=RECHARGE_FEEDBACK_SUCCESS_DOCKED;
         pub2_->publish(msg);
+
         // 模拟检测到充电电压
         setChargingVoltage(true);
     }

src/wheelchair_state_machine/src/第一种调到垂线范围（角度误差在5度）

@@ -10,8 +10,8 @@
 /cmd_vel
 /cmd_vel_nav
 /wheel/twist
-
-
+/scene_services/mode
+/sensor/getcharging