From ee03c00ab9ba62c1a23a62320795f9263d5c2caf Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 23 Jun 2021 08:46:04 +0200
Subject: [PATCH] Updated the axel distance value to make it closer to the ral
value.
---
cfg/ModelCarControl.cfg | 2 +-
config/car1_params.yaml | 2 +-
config/car2_params.yaml | 2 +-
config/params.yaml | 2 +-
4 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/cfg/ModelCarControl.cfg b/cfg/ModelCarControl.cfg
index 74abfaf..834c190 100755
--- a/cfg/ModelCarControl.cfg
+++ b/cfg/ModelCarControl.cfg
@@ -45,7 +45,7 @@ gen.add("speed_Kd", double_t, 0, "Differential constant of th
gen.add("speed_i_max", double_t, 0, "Maximum integral value pf the speed PID", 10.0, 0.0, 1000.0)
gen.add("speed_deadband", double_t, 0, "Minimum valid speed command", 0.1, 0.1, 1.0)
gen.add("watchdog_time", double_t, 0, "Maximum time between two control commands", 0.5, 0.0, 1000.0)
-gen.add("axel_distance", double_t, 0, "Distance between the two axels in meters", 0.3662, 0.0, 10.0)
+gen.add("axel_distance", double_t, 0, "Distance between the two axels in meters", 0.36, 0.0, 10.0)
gen.add("max_steer_angle", double_t, 0, "Maximum steering angle", 0.4, -1.0,1.0)
gen.add("min_steer_angle", double_t, 0, "Minimum steering angle", -0.4, -1.0,1.0)
gen.add("max_speed_control",double_t, 0, "Maximum output speed command value", 10.0, -100.0, 100.0)
diff --git a/config/car1_params.yaml b/config/car1_params.yaml
index 8e606f6..dfab18d 100644
--- a/config/car1_params.yaml
+++ b/config/car1_params.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/car2_params.yaml b/config/car2_params.yaml
index 8e606f6..dfab18d 100644
--- a/config/car2_params.yaml
+++ b/config/car2_params.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/params.yaml b/config/params.yaml
index 41c0729..cb2a7bd 100644
--- a/config/params.yaml
+++ b/config/params.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
--
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