Merge branch 'development' into 'master'

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

See merge request !2

cfg/ModelCarOdometry.cfg

@@ -43,8 +43,8 @@ gen.add("odom_frame",         str_t,     0,           "Name of the odometry fram
 gen.add("robot_frame",        str_t,     0,           "Name of the robot frame",                "base_footprint")
 gen.add("encoder_ticks",      int_t,     0,           "Number of encoder ticks per revolution", 60,     1,   1000)
 gen.add("wheel_diameter",     double_t,  0,           "Diameter of the wheel in meters",        0.108,  0.01,1000)
-gen.add("wheel_distance",     double_t,  0,           "Distance between wheels in meters",      0.261,  0.01,1000)
-gen.add("axel_distance",      double_t,  0,           "Distance betweena axels in meters",      0.3662, 0.01,1.0)
+gen.add("wheel_distance",     double_t,  0,           "Distance between wheels in meters",      0.265,  0.01,1000)
+gen.add("axel_distance",      double_t,  0,           "Distance betweena axels in meters",      0.36,   0.01,1.0)
 gen.add("enable_filter",      bool_t,    0,           "Enable the low pass filter for the encoder data", True)
 gen.add("filter_coeff",       double_t,  0,           "Coefficient for the first order low pass filter", 0.3, 0.01,1.0)
 gen.add("speed_deadband",     double_t,  0,           "Minimum valid speed command",            0.1,    0.1, 1.0)

config/car1_params.yaml

@@ -3,8 +3,8 @@ odom_frame: "car1/odom"
 robot_frame: "car1/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

config/car2_params.yaml

@@ -3,8 +3,8 @@ odom_frame: "car2/odom"
 robot_frame: "car2/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

config/params.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

config/params_no_tf.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