This PR improves the tune of the DAF XF 450 truck model
The main change is to significantly increase the gains for the steering angle position controller in the model SDF. Because the truck mass is 15000 kg, significant force is required to move and hold the wheels in the correct position. This is especially apparent when the model is cornering sharply or on uneven terrain.
Other changes:
Add friction coefficients for wheels (don't assume defaults)
Increase gains for the steering position controller
Update rover params - disable speed scaling, reduce turn rates and increase turn radius and nav L1 period
Other specifications:
Max velocity is set to 22.3 m/s (81 km/h)
=> wheel velocity controllers have max angular velocity of 50.0 rad/s for rear wheel radius 0.45 m
Max steering joint angle is +/- 40 deg (0.6981 rad)
WP_SPEED is set to 11 m/s but is overridden in the launch file when the vehicle is used for plane takeoff - landing
This PR improves the tune of the DAF XF 450 truck model
The main change is to significantly increase the gains for the steering angle position controller in the model SDF. Because the truck mass is 15000 kg, significant force is required to move and hold the wheels in the correct position. This is especially apparent when the model is cornering sharply or on uneven terrain.
Other changes:
Other specifications: