Updated the axel distance and wheel distance values to make them closer to the real values.

config/adc_common/adc_control_config.yaml

@@ -5,7 +5,7 @@ speed_Kd: 0.00
 speed_i_max: 20.0
 speed_deadband: 0.1
 watchdog_time: 0.5
-axel_distance: 0.3662
+axel_distance: 0.36
 max_steer_angle: 0.5
 min_steer_angle: -0.5
 max_speed_control: 20.0

config/adc_common/adc_odometry_config.yaml

@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom"
 robot_frame: "adc_car/base_footprint"
 encoder_ticks: 30
 wheel_diameter: 0.100
-wheel_distance: 0.261
-axel_distance: 0.3662
+wheel_distance: 0.265
+axel_distance: 0.36
 filter_coeff: 0.3
 speed_deadband: 0.1
 max_steer_angle: 0.5

config/adc_rosnav/local_planner/ackermann_params.yaml

@@ -38,8 +38,8 @@ AckermannPlannerROS:
   max_steer_vel: 0.3
   min_steer_vel: -0.3
   max_steer_acc: 1.0
-  axis_distance: 0.3662
-  wheel_distance: 0.216
+  axis_distance: 0.36
+  wheel_distance: 0.265
   wheel_radius: 0.05
 
   split_ignore_length: 0.1

config/adc_sim/adc_controller_config.yaml

@@ -12,8 +12,8 @@
     drive_rear_right_joint: base_link_2_rear_right_wheel_joint
     drive_front_left_joint: steer_left_2_front_left_wheel_joint
     drive_front_right_joint: steer_right_2_front_right_wheel_joint
-    axel_distance: 0.3662
-    wheel_distance: 0.216
+    axel_distance: 0.36
+    wheel_distance: 0.265
     wheel_diameter: 0.100
     encoder_ticks: 30
     encoder_rate: 40