From 77ef7d6922e6485fe9664d8f8d636e044f53887e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 23 Jun 2021 09:07:05 +0200
Subject: [PATCH] Updated the axel distance and wheel distance values to make
them closer to the real values.
---
config/adc_common/adc_control_config.yaml | 2 +-
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, 7 insertions(+), 7 deletions(-)
diff --git a/config/adc_common/adc_control_config.yaml b/config/adc_common/adc_control_config.yaml
index cc0a54c..2538247 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 4a4f9a7..0bab7ea 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 006cc84..0286e32 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 1469ace..dc8a5b1 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
--
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