adjust velocity and rotation settings

clubcapra · Jun 9, 2024 · e258810 · e258810
1 parent 1596926
commit e258810
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Showing 3 changed files with 20 additions and 34 deletions.
diff --git a/src/rove_bringup/config/teleop_joy_params.yaml b/src/rove_bringup/config/teleop_joy_params.yaml
@@ -14,17 +14,17 @@
     scale_angular:
       pitch: 0.0
       roll: 0.0
-      yaw: 200.0
+      yaw: 1.0
     scale_angular_turbo:
       pitch: 0.0
       roll: 0.0
-      yaw: 300.0
+      yaw: 1.0
     scale_linear:
-      x: 50.0
+      x: 1.0
       y: 0.0
       z: 0.0
     scale_linear_turbo:
-      x: 100.0
+      x: 2.0
       y: 0.0
       z: 0.0
     # publish_stamped_twist: true
diff --git a/src/rove_bringup/launch/real.launch.py b/src/rove_bringup/launch/real.launch.py
@@ -155,6 +155,6 @@ def create_controller_node(node_name:str):
             common,
             joint_state_broadcaster_spawner,
             *delayed_controller_nodes,
-            vectornav,
-            velodyne,
+            # vectornav,
+            # velodyne,
             ])
diff --git a/src/rove_description/config/tracks_controllers.yaml b/src/rove_description/config/tracks_controllers.yaml
@@ -31,18 +31,18 @@ diff_drive_controller:
     # right_wheel_names: ["track_fr_j"]
 
     wheel_separation: 0.230
-    wheel_radius: 0.220
+    wheel_radius: 0.11
 
-    wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: -1.0
-    right_wheel_radius_multiplier: 1.0
+    wheel_separation_multiplier: 10.0
+    left_wheel_radius_multiplier: -0.0325
+    right_wheel_radius_multiplier: 0.0325
 
     publish_rate: 20.0
     odom_frame_id: odom
     # allow_multiple_cmd_vel_publishers: true
     base_frame_id: base_link
-    # pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
-    # twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
 
     open_loop: true
     enable_odom_tf: true
@@ -53,35 +53,21 @@ diff_drive_controller:
     # velocity_rolling_window_size: 10
     use_stamped_vel: false
 
-    # Velocity and acceleration limits
-    # Whenever a min_* is unspecified, default to -max_*
     linear.x.has_velocity_limits: true
     linear.x.has_acceleration_limits: true
     linear.x.has_jerk_limits: false
-    linear.x.max_velocity: 100.0
-    # linear.x.min_velocity: -1.0
-    linear.x.max_acceleration: 200.0
+    linear.x.max_velocity: 5.0
+    linear.x.min_velocity: -5.0
+    linear.x.max_acceleration: 2.0
     linear.x.max_jerk: 0.0
     linear.x.min_jerk: 0.0
 
     angular.z.has_velocity_limits: true
     angular.z.has_acceleration_limits: true
     angular.z.has_jerk_limits: false
-    angular.z.max_velocity: 500.0
-    # angular.z.min_velocity: -1.0
-    angular.z.max_acceleration: 800.0
-    # angular.z.min_acceleration: -1.0
+    angular.z.max_velocity: 1.0
+    angular.z.min_velocity: -1.0
+    angular.z.max_acceleration: 1.0
+    angular.z.min_acceleration: -1.0
     angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
-
-# left_track_controller:
-#   ros__parameters:
-#     track_joint_name: track_l_j
-#     front_joint: track_fl_j
-#     back_joint: track_rl_j
-
-# right_track_controller:
-#   ros__parameters:
-#     track_joint_name: track_r_j
-#     front_joint: track_fr_j
-#     back_joint: track_rr_j
+    angular.z.min_jerk: 0.0