Commit 77ef7d69 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

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

parent 92c0eaf6
...@@ -5,7 +5,7 @@ speed_Kd: 0.00 ...@@ -5,7 +5,7 @@ speed_Kd: 0.00
speed_i_max: 20.0 speed_i_max: 20.0
speed_deadband: 0.1 speed_deadband: 0.1
watchdog_time: 0.5 watchdog_time: 0.5
axel_distance: 0.3662 axel_distance: 0.36
max_steer_angle: 0.5 max_steer_angle: 0.5
min_steer_angle: -0.5 min_steer_angle: -0.5
max_speed_control: 20.0 max_speed_control: 20.0
......
...@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom" ...@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom"
robot_frame: "adc_car/base_footprint" robot_frame: "adc_car/base_footprint"
encoder_ticks: 30 encoder_ticks: 30
wheel_diameter: 0.100 wheel_diameter: 0.100
wheel_distance: 0.261 wheel_distance: 0.265
axel_distance: 0.3662 axel_distance: 0.36
filter_coeff: 0.3 filter_coeff: 0.3
speed_deadband: 0.1 speed_deadband: 0.1
max_steer_angle: 0.5 max_steer_angle: 0.5
......
...@@ -38,8 +38,8 @@ AckermannPlannerROS: ...@@ -38,8 +38,8 @@ AckermannPlannerROS:
max_steer_vel: 0.3 max_steer_vel: 0.3
min_steer_vel: -0.3 min_steer_vel: -0.3
max_steer_acc: 1.0 max_steer_acc: 1.0
axis_distance: 0.3662 axis_distance: 0.36
wheel_distance: 0.216 wheel_distance: 0.265
wheel_radius: 0.05 wheel_radius: 0.05
split_ignore_length: 0.1 split_ignore_length: 0.1
......
...@@ -12,8 +12,8 @@ ...@@ -12,8 +12,8 @@
drive_rear_right_joint: base_link_2_rear_right_wheel_joint drive_rear_right_joint: base_link_2_rear_right_wheel_joint
drive_front_left_joint: steer_left_2_front_left_wheel_joint drive_front_left_joint: steer_left_2_front_left_wheel_joint
drive_front_right_joint: steer_right_2_front_right_wheel_joint drive_front_right_joint: steer_right_2_front_right_wheel_joint
axel_distance: 0.3662 axel_distance: 0.36
wheel_distance: 0.216 wheel_distance: 0.265
wheel_diameter: 0.100 wheel_diameter: 0.100
encoder_ticks: 30 encoder_ticks: 30
encoder_rate: 40 encoder_rate: 40
......
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