From abae61845ae01f093aa1370a5aa35d564a164108 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 12 Jul 2018 16:57:21 +0200
Subject: [PATCH] Added odometry calibration file for simulation
---
.../calibration/SteerAngleActuator.xml | 53 +++++++++++++++++++
seat_car_description/launch/odometry.launch | 2 +-
2 files changed, 54 insertions(+), 1 deletion(-)
create mode 100644 seat_car_description/calibration/SteerAngleActuator.xml
diff --git a/seat_car_description/calibration/SteerAngleActuator.xml b/seat_car_description/calibration/SteerAngleActuator.xml
new file mode 100644
index 0000000..e2e65e9
--- /dev/null
+++ b/seat_car_description/calibration/SteerAngleActuator.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<!DOCTYPE boost_serialization>
+<boost_serialization signature="serialization::archive" version="12">
+<myPair class_id="0" tracking_level="0" version="0">
+ <count>7</count>
+ <item_version>0</item_version>
+ <item class_id="1" tracking_level="0" version="0">
+ <command>0</command>
+ <raduis>0.6727814919966862</raduis>
+ <steering>0.3967852340780831</steering>
+ <feedback>179</feedback>
+ </item>
+ <item>
+ <command>30</command>
+ <raduis>0.9198584417173391</raduis>
+ <steering>0.28655792116953055</steering>
+ <feedback>209</feedback>
+ </item>
+ <item>
+ <command>60</command>
+ <raduis>1.9125540382417678</raduis>
+ <steering>0.13636611612784297</steering>
+ <feedback>240</feedback>
+ </item>
+ <item>
+ <command>90</command>
+ <raduis>10.0</raduis>
+ <steering>-0.01</steering>
+ <feedback>270</feedback>
+ </item>
+ <item>
+ <command>120</command>
+ <raduis>1.8650679585647671</raduis>
+ <steering>-0.139860631021484</steering>
+ <feedback>300</feedback>
+
+ </item>
+ <item>
+ <command>150</command>
+ <raduis>0.9834823119401702</raduis>
+ <steering>-0.2675472287070919</steering>
+ <feedback>331</feedback>
+
+ </item>
+ <item>
+ <command>180</command>
+ <raduis>0.6397344317071991</raduis>
+ <steering>-0.41853095368099036</steering>
+ <feedback>361</feedback>
+ </item>
+</myPair>
+</boost_serialization>
+
diff --git a/seat_car_description/launch/odometry.launch b/seat_car_description/launch/odometry.launch
index c56cf59..527399f 100644
--- a/seat_car_description/launch/odometry.launch
+++ b/seat_car_description/launch/odometry.launch
@@ -8,7 +8,7 @@
type="odometry_publisher"
name="odometry_publisher"
output="screen">
- <param name="file_name" value="$(find odometry)/cfg/SteerAngleActuator.xml" />
+ <param name="file_name" value="$(find seat_car_description)/calibration/SteerAngleActuator.xml" />
<param name="model_car_yaw" value="/yaw" />
<param name="model_car_twist" value="/twist" />
<param name="steering_command" value="/steering" />
--
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