From 6b4729d921e6cd2de103fd7aea3e9f25ec708022 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 13 Apr 2021 18:27:01 +0200
Subject: [PATCH] Updated max/min_steer_angle
---
config/adc_common/adc_control_config.yaml | 4 ++--
config/adc_common/adc_odometry_config.yaml | 4 ++--
config/adc_rosnav/local_planner/ackermann_params.yaml | 4 ++--
config/adc_sim/adc_controller_config.yaml | 4 ++--
4 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/config/adc_common/adc_control_config.yaml b/config/adc_common/adc_control_config.yaml
index 184daed..cc0a54c 100644
--- a/config/adc_common/adc_control_config.yaml
+++ b/config/adc_common/adc_control_config.yaml
@@ -6,8 +6,8 @@ speed_i_max: 20.0
speed_deadband: 0.1
watchdog_time: 0.5
axel_distance: 0.3662
-max_steer_angle: 0.41
-min_steer_angle: -0.41
+max_steer_angle: 0.5
+min_steer_angle: -0.5
max_speed_control: 20.0
min_speed_control: -20.0
max_steer_control: 75.0
diff --git a/config/adc_common/adc_odometry_config.yaml b/config/adc_common/adc_odometry_config.yaml
index 0db50d3..4a4f9a7 100644
--- a/config/adc_common/adc_odometry_config.yaml
+++ b/config/adc_common/adc_odometry_config.yaml
@@ -7,8 +7,8 @@ wheel_distance: 0.261
axel_distance: 0.3662
filter_coeff: 0.3
speed_deadband: 0.1
-max_steer_angle: 0.4
-min_steer_angle: -0.4
+max_steer_angle: 0.5
+min_steer_angle: -0.5
max_steer_control: 75.0
min_steer_control: -68.0
publish_tf: False
diff --git a/config/adc_rosnav/local_planner/ackermann_params.yaml b/config/adc_rosnav/local_planner/ackermann_params.yaml
index 5fb14b1..006cc84 100644
--- a/config/adc_rosnav/local_planner/ackermann_params.yaml
+++ b/config/adc_rosnav/local_planner/ackermann_params.yaml
@@ -33,8 +33,8 @@ AckermannPlannerROS:
max_trans_vel: 1.0
min_trans_vel: 0.11
max_trans_acc: 0.2
- max_steer_angle: 0.40
- min_steer_angle: -0.40
+ max_steer_angle: 0.5
+ min_steer_angle: -0.5
max_steer_vel: 0.3
min_steer_vel: -0.3
max_steer_acc: 1.0
diff --git a/config/adc_sim/adc_controller_config.yaml b/config/adc_sim/adc_controller_config.yaml
index 7caa994..1469ace 100644
--- a/config/adc_sim/adc_controller_config.yaml
+++ b/config/adc_sim/adc_controller_config.yaml
@@ -17,8 +17,8 @@
wheel_diameter: 0.100
encoder_ticks: 30
encoder_rate: 40
- min_steer_angle: -0.4
- max_steer_angle: 0.4
+ min_steer_angle: -0.5
+ max_steer_angle: 0.5
min_steer_control: -68.0
max_steer_control: 75.0
min_speed: -1.5
--
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