diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..538d6571577330fa8aef5023f6bdf7f245109f60 --- /dev/null +++ b/README.md @@ -0,0 +1,32 @@ +# Description +This package provide some ADC participant oriented launch files and config files to start up the model car and run some advanced functionalities. Check the main [model car documentation](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to) for further information. + +# Dependencies +This node has the following dependencies: +* none + +# Install + +Move to the active workspace: +```bash +roscd && cd ../src +``` +Clone the repository: +```bash +git clone <url> +``` +Install ROS dependencies: +``` +roscd +cd .. +rosdep install -i -r --from-paths src +``` +Compile the workspace: +``` +catkin_make +``` + +# How to use it + +This package provide differents launch files that can be tested. + diff --git a/config/adc_common/adc_odometry_config.yaml b/config/adc_common/adc_odometry_config.yaml index 0469bf1159c62b40184c11bd8cc50f02c05fe95d..0db50d3c9d8356cadbed6e0d12bb5bcb985d2a8b 100644 --- a/config/adc_common/adc_odometry_config.yaml +++ b/config/adc_common/adc_odometry_config.yaml @@ -3,7 +3,7 @@ odom_frame: "adc_car/odom" robot_frame: "adc_car/base_footprint" encoder_ticks: 30 wheel_diameter: 0.100 -wheel_distance: 0.216 +wheel_distance: 0.261 axel_distance: 0.3662 filter_coeff: 0.3 speed_deadband: 0.1