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ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
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Adjusting Wheel Size on Turtlebot3 Burger #225

Closed esch98 closed 4 years ago

esch98 commented 4 years ago

I am new to ROS and OpenCR. I am working with a Turtlebot3 Burger and want to increase the size of the wheels for better ground clearance. I took a look at modifications that would need to be made to the OpneCR source so that the new wheels don't throw off the robot's pose estimation.

I found the WHEEL_RADIUS definition in turtlebot3_burger.h, which seems to be the correct setting to modify. However, looking through turtlebot3_core.ino, I also found a reference to the wheel circumference (listed as 0.207) that was simply entered as a number and did not reference the WHEEL_RADIUS (or any other) definition. These were the only two instances I was able to find that mentioned the wheel radius, but I was wondering if there are other settings that should be changed with a new wheel set.

KyoungHwan2046 commented 4 years ago

Hi, @esch98

You should modify the "VELOCITY_CONSTANT_VALUE" and other parameters that related to velocity.

Thank you.

ROBOTIS-Will commented 4 years ago

@esch98 Odometry is calculated in OpenCR. If you are going to use different size of wheels, it is recommended to update all parameters related to the wheel. Those will be WHEEL_RADIUS, WHEEL_SEPARATION, TURNING_RADIUS, as well as the Circumference of Wheel value that you mentioned. You can calculate the circumference of wheel by 2PiWHEEL_RADIUS.

You might also want to update the URDF as there will be some changes in z axis.

KyoungHwan2046 commented 4 years ago

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.

pitosalas commented 2 years ago

Am I undersranding this correctly that this .h file is part of the arduino source, so I have to instlal the arduino IDE, rebuild the opencr software there, and then load it onto the opencr? Are there consolidated instructions for this anywhere?

toukairinn9999 commented 2 years ago

@pitosalas That understanding is correct. The steps required by OpenCR when changing wheel size or distance between wheels can be summarized as follows

  1. change WHEEL_RADIUS, WHEEL_SEPARATION and TURNING_RADIUS in turtlebot3_burger.h

  2. Change the circumference of the wheel in turtlebot3_core.ino. Here, the circumference can be calculated by 2Pi * WHEEl_RADIUS. The default value of the circumference of burger is 0.207.

  3. Install Arduino IDE on your PC and write the edited file (turtlebot3_core.ino). Please refer to the following e-Manual for this detail. https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup 3.3. At the end of OpenCR Setup, there are instructions for using the Arduino IDE, click to expand and see the details.

I have changed these values and written them in the Arduino IDE and have confirmed that the speed of the wheel changes. Try this series of methods.

pitosalas commented 2 years ago

Thank you! I thought that CIRCUMFERANCE was the shape of the robot itself!

Weird that I have to enter CIRCUMFERANCE given that it’s so easy to compute.

Thank you!

Pito Salas Faculty, Computer Science Brandeis University

On Apr 6, 2022, at 5:36 AM, toukairinn9999 @.***> wrote:

@pitosalas That understanding is correct. The steps required by OpenCR when changing wheel size or distance between wheels can be summarized as follows

• change WHEEL_RADIUS, WHEEL_SEPARATION and TURNING_RADIUS in turtlebot3_burger.h

• Change the circumference of the wheel in turtlebot3_core.ino. Here, the circumference can be calculated by 2Pi * WHEEl_RADIUS. The default value of the circumference of burger is 0.207.

• Install Arduino IDE on your PC and write the edited file (turtlebot3_core.ino). Please refer to the following e-Manual for this detail. https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup 3.3. At the end of OpenCR Setup, there are instructions for using the Arduino IDE, click to expand and see the details.

I have changed these values and written them in the Arduino IDE and have confirmed that the speed of the wheel changes. Try this series of methods.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.

apusky commented 1 year ago

@pitosalas That understanding is correct. The steps required by OpenCR when changing wheel size or distance between wheels can be summarized as follows

  1. change WHEEL_RADIUS, WHEEL_SEPARATION and TURNING_RADIUS in turtlebot3_burger.h
  2. Change the circumference of the wheel in turtlebot3_core.ino. Here, the circumference can be calculated by 2Pi * WHEEl_RADIUS. The default value of the circumference of burger is 0.207.
  3. Install Arduino IDE on your PC and write the edited file (turtlebot3_core.ino). Please refer to the following e-Manual for this detail. https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup 3.3. At the end of OpenCR Setup, there are instructions for using the Arduino IDE, click to expand and see the details.

I have changed these values and written them in the Arduino IDE and have confirmed that the speed of the wheel changes. Try this series of methods.

Hello @toukairinn9999 , When you programmed the board with Arduino IDE, did you hear the beeping sounds? Also, could you tell me what board version did you use?