From ff63a159662e18f8340ece671f8ae3572dbffd7f Mon Sep 17 00:00:00 2001 From: Sergi Hernandez <shernand@iri.upc.edu> Date: Thu, 4 Mar 2021 11:52:02 +0100 Subject: [PATCH] Added the odometry and control configuration files. --- config/control_config.yaml | 15 +++++++++++++++ config/odometry_config.yaml | 15 +++++++++++++++ 2 files changed, 30 insertions(+) create mode 100644 config/control_config.yaml create mode 100644 config/odometry_config.yaml diff --git a/config/control_config.yaml b/config/control_config.yaml new file mode 100644 index 0000000..6f4adee --- /dev/null +++ b/config/control_config.yaml @@ -0,0 +1,15 @@ +rate: 40 +speed_Kp: 20.0 +speed_Ki: 50.0 +speed_Kd: 0.00 +speed_i_max: 20.0 +speed_deadband: 0.1 +watchdog_time: 0.5 +axel_distance: 0.3662 +max_steer_angle: 0.4 +min_steer_angle: -0.4 +max_speed_control: 20.0 +min_speed_control: -20.0 +max_steer_control: 62.0 +min_steer_control: -77.0 + diff --git a/config/odometry_config.yaml b/config/odometry_config.yaml new file mode 100644 index 0000000..be7ed56 --- /dev/null +++ b/config/odometry_config.yaml @@ -0,0 +1,15 @@ +rate: 40 +odom_frame: "model_car/odom" +robot_frame: "model_car/base_footprint" +encoder_ticks: 30 +wheel_diameter: 0.100 +wheel_distance: 0.216 +axel_distance: 0.3662 +filter_coeff: 0.3 +speed_deadband: 0.1 +max_steer_angle: 0.4 +min_steer_angle: -0.4 +max_steer_control: 62.0 +min_steer_control: -77.0 +publish_tf: False + -- GitLab