diff --git a/config/adc_common/adc_control_config.yaml b/config/adc_common/adc_control_config.yaml index cc0a54c53d5b0eb7b75aab3f536c9004f9bf3d45..2538247f2eb068089b4c2c9293b0eebd8fc8069c 100644 --- a/config/adc_common/adc_control_config.yaml +++ b/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 diff --git a/config/adc_common/adc_odometry_config.yaml b/config/adc_common/adc_odometry_config.yaml index 4a4f9a72b57244ecc495a8ed3c5b894fa8aeba2b..0bab7ea50968c298516f9e88da73d938089c060f 100644 --- a/config/adc_common/adc_odometry_config.yaml +++ b/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 diff --git a/config/adc_rosnav/local_planner/ackermann_params.yaml b/config/adc_rosnav/local_planner/ackermann_params.yaml index 006cc8420147e3635f1ac32fb10921b428ad8ec2..0286e32dd749cc56f9029b7a7be71294e795b73b 100644 --- a/config/adc_rosnav/local_planner/ackermann_params.yaml +++ b/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 diff --git a/config/adc_sim/adc_controller_config.yaml b/config/adc_sim/adc_controller_config.yaml index 1469ace0b0d37c18be5c2c467ed63db7cfdb63f7..dc8a5b17eebb429f463f34d9d253cd8c90e42de8 100644 --- a/config/adc_sim/adc_controller_config.yaml +++ b/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