The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot is located in this stack.
bases that drive backwards cannot be simulated properly - they still drive forward!
on the hardware, this is fixed by adjustint the homing offset in the base_driver.yaml/`base_calibration.yaml´ - however, this yaml is not considered during simulation
I tried to achieve the homing offset via urdf - for both simulation and hw - so that the modification in the yaml is not needed anymore...but I haven't managed it yet....
the current solution still works for both simulation and hw (still modification of yaml needed), because the joint rotation axis does not affect the real hardware behavior...
Still, I'm not yet satisfied 100%
also, the tricycle simulation is very bouncy and inaccurate...
fmessmer
commented
6 months ago
ref https://github.com/ipa320/cob_common/pull/261
bases that drive backwards cannot be simulated properly - they still drive forward! on the hardware, this is fixed by adjustint the
homing offsetin thebase_driver.yaml/`base_calibration.yaml´ - however, this yaml is not considered during simulationI tried to achieve the homing offset via urdf - for both simulation and hw - so that the modification in the yaml is not needed anymore...but I haven't managed it yet.... the current solution still works for both simulation and hw (still modification of yaml needed), because the joint rotation axis does not affect the real hardware behavior...
Still, I'm not yet satisfied 100%
also, the tricycle simulation is very bouncy and inaccurate...