From 1c94b3d2aea046e14a2a42d94d82cb4a3818ac0e Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan Date: Wed, 23 Jun 2021 08:49:29 +0200 Subject: [PATCH] Updated the axel distance and wheel distance values to make them closer to the real values. --- config/control_config.yaml | 2 +- config/odometry_config.yaml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/config/control_config.yaml b/config/control_config.yaml index 6f4adee..1b8fdee 100644 --- a/config/control_config.yaml +++ b/config/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: 0.4 min_steer_angle: -0.4 max_speed_control: 20.0 diff --git a/config/odometry_config.yaml b/config/odometry_config.yaml index 2d4a37c..51e9c15 100644 --- a/config/odometry_config.yaml +++ b/config/odometry_config.yaml @@ -3,8 +3,8 @@ odom_frame: "model_car/odom" robot_frame: "model_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 enable_filter: True filter_coeff: 0.3 speed_deadband: 0.1 -- GitLab