Skip to content

Update bicycle demo to use changed parameters #715

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
wants to merge 2 commits into
base: master
Choose a base branch
from
Draft

Update bicycle demo to use changed parameters #715

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a88232e
Update configuration yaml
christophfroehlich Feb 17, 2025
ec6b42f
Merge branch 'master' into steering_lib_updates
christophfroehlich Apr 23, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 7 additions & 6 deletions example_11/bringup/config/carlikebot_controllers.yaml
View file
Original file line number Diff line number Diff line change
@@ -9,18 +9,19 @@ controller_manager:
bicycle_steering_controller:
ros__parameters:
type: bicycle_steering_controller/BicycleSteeringController

traction_joints_names: ['virtual_rear_wheel_joint']
steering_joints_names: ['virtual_front_wheel_joint']
wheelbase: 0.325
front_wheel_radius: 0.05
rear_wheel_radius: 0.05
front_steering: true
traction_wheel_radius: 0.05

reference_timeout: 2.0
rear_wheels_names: ['virtual_rear_wheel_joint']
front_wheels_names: ['virtual_front_wheel_joint']

open_loop: false
position_feedback: false
velocity_rolling_window_size: 10
base_frame_id: base_link
odom_frame_id: odom
enable_odom_tf: true
twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
position_feedback: false
Loading