From 8a38fc235d5aaf5f69ddaba5b1cd05a5bcc1ef46 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Tue, 16 Mar 2021 11:11:06 +0000
Subject: [PATCH] Fixed wheel_distance. Fixed some typos and links
---
README.md | 12 ++++++------
cfg/ModelCarOdometry.cfg | 2 +-
config/car1_params.yaml | 2 +-
config/car2_params.yaml | 2 +-
config/params.yaml | 2 +-
config/params_no_tf.yaml | 2 +-
6 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/README.md b/README.md
index cc7442a..29667c3 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
## Description
-This ROS package generates the odometry information from the encoder provided by the platform. The encoder message is defined in [here](https://gitlab.iri.upc.edu/mobile_robotics/adc/platform/model_car/iri_model_car_msgs).
+This ROS package generates the odometry information from the encoder provided by the platform. The encoder message is defined in [iri_model_car_msgs](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_msgs).
Additionally, this package also generates an additional feedback information specific to Ackermannn-like platforms with information which is not available in a standard [Odometry](http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/Odometry.html) message. This feedback information includes the following information as an [AckermannDriveStamped](http://docs.ros.org/en/melodic/api/ackermann_msgs/html/msg/AckermannDriveStamped.html) message:
@@ -10,7 +10,7 @@ Additionally, this package also generates an additional feedback information spe
The platform does not provide actual feedback information from the steering angle and velocity, so the motion command sent to the platform is used to generate it.
-Due to the low resolution of the encoders used in the platform, at low speeds, the raw encoder information is not suitable to generate accurate odometry information (the encoder count increments present isolates impulses separated by 0's), To solve that a simple first order low pass filter is used. The cut-off frequency of this filter can be set by a parameter.
+Due to the low resolution of the encoders used in the platform, at low speeds, the raw encoder information is not suitable to generate accurate odometry information (the encoder count increments present isolates impulses separated by 0's), To solve that a simple first order low pass filter can be enabled. The cut-off frequency of this filter can be set by a parameter.
This package can also, optionally, publish the transform between the *odom* and *base_footprint* frames using TF.
@@ -33,7 +33,7 @@ This package can also, optionally, publish the transform between the *odom* and
- ~**robot_frame** (String; default: base_footprint) Name of the robot frame.
- ~**encoder_ticks** (Integer; default: 60: min: 1; max: 1000) Number of encoder ticks per revolution.
- ~**wheel_diameter** (Double; default: 0.108; min: 0.01; max: 1000) Diameter of the wheel in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
-- ~**wheel_distance** (Double; default: 0.216; min: 0.01; max: 1000) Distance between wheels in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
+- ~**wheel_distance** (Double; default: 0.261; min: 0.01; max: 1000) Distance between wheels in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
- ~**axel_distance** (Double; default: 0.3662; min: 0.01; max: 1.0) Distance between axels in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
- ~**enable_filter** (Bool; default: True) Enable or disable the use of the low pass filter for the encoder data.
- ~**filter_coeff** (Double; default: 0.3; min: 0.01; max: 1.0) Coefficient for the first order low pass filter used to smooth the estimation of the forward speed.
@@ -75,20 +75,20 @@ catkin_make
## Launch
-This package is normally launched as part of a more complete launch file, either in simulation or with the real robot. See the documentation in [here](https://gitlab.iri.upc.edu/mobile_robotics/adc/platform/model_car/simulator/iri_model_car_how_to) for more information.
+This package is normally launched as part of a more complete launch file, either in simulation or with the real robot. 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.
The main launch file (*node.launch*) has the following arguments:
* **node_name** (default=model_car_odometry): name of the ROS node.
* **output** (default=screen): Desired log output. Possible values are screen and log.
* **launch_prefix** (default=): Set of parameters to be pre-apended to the node launch command.
-* **config_file** (default=$(find iri_model_car_odometry)/config/params.yaml): file with the node configuration. See this [section](#parameters) for more information on the available parameters.
+* **config_file** (default=$(find iri_model_car_odometry)/config/params.yaml): file with the node configuration. See [the parameter section](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_odometry#parameters) for more information on the available parameters.
* **encoders_topic** (default=/encoders): Name of the encoders topic to be used.
* **odom_topic** (default=/odom): Name of the odom topic to be used
* **control_topic** (default=/control): Name of the control topic to be used.
* **ackermann_feedback_topic** (default=/ackermann_feedback): Name of the ackermann feedback topic to be used.
-To include the iri_model_car_odometry into an other launch file, include the following lines:
+To include the iri_model_car_odometry into another launch file, include the following lines:
```
<include file="$(find iri_model_car_odometry)/launch/node.launch">
diff --git a/cfg/ModelCarOdometry.cfg b/cfg/ModelCarOdometry.cfg
index 15e9613..5473882 100755
--- a/cfg/ModelCarOdometry.cfg
+++ b/cfg/ModelCarOdometry.cfg
@@ -43,7 +43,7 @@ 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", 0.216, 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("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)
diff --git a/config/car1_params.yaml b/config/car1_params.yaml
index ba68b2e..02b8f12 100644
--- a/config/car1_params.yaml
+++ b/config/car1_params.yaml
@@ -3,7 +3,7 @@ odom_frame: "car1/odom"
robot_frame: "car1/base_footprint"
encoder_ticks: 30
wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
axel_distance: 0.3662
enable_filter: True
filter_coeff: 0.3
diff --git a/config/car2_params.yaml b/config/car2_params.yaml
index e22db2f..40a0f07 100644
--- a/config/car2_params.yaml
+++ b/config/car2_params.yaml
@@ -3,7 +3,7 @@ odom_frame: "car2/odom"
robot_frame: "car2/base_footprint"
encoder_ticks: 30
wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
axel_distance: 0.3662
enable_filter: True
filter_coeff: 0.3
diff --git a/config/params.yaml b/config/params.yaml
index f08a7f8..425bf59 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -3,7 +3,7 @@ odom_frame: "model_car/odom"
robot_frame: "model_car/base_footprint"
encoder_ticks: 30
wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
axel_distance: 0.3662
enable_filter: True
filter_coeff: 0.3
diff --git a/config/params_no_tf.yaml b/config/params_no_tf.yaml
index 92d9332..2d4a37c 100644
--- a/config/params_no_tf.yaml
+++ b/config/params_no_tf.yaml
@@ -3,7 +3,7 @@ odom_frame: "model_car/odom"
robot_frame: "model_car/base_footprint"
encoder_ticks: 30
wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
axel_distance: 0.3662
enable_filter: True
filter_coeff: 0.3
--
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