该程序是基于ROS的树莓派四驱底盘差速控制代码。 目前简单实现了基于树莓派的四驱底盘车轮通过C++，ROS的控制，能够接入键盘按键操控程序，在车架起来的情况下可以完成调速，直行后退，差速转弯，原地旋转等运动，落地可实现土地上的前进和后退。 完整的说明文档查看下面笔记：https://note.youdao.com/s/UZeSV4A4
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