tonybaltovski
commented
1 month ago @SteveMacenski the wheel diameter should be 194mm according to the product specs [1] which would be a wheel radius of 0.097mm. Can you make sure the tire is inflated to the correct pressure of 30 PSI?
The Jackal's documentation [2] states that the wheels are 190mm in diameter (0.095m radius), yet the ROS control config is set as
0.098[1] which results in notably worse odometric performance. Changing this back to 0.095 is a big improvement in my odometry quality.[1] https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_control/config/j100/control.yaml#L18 [2] https://docs.clearpathrobotics.com/docs/robots/outdoor_robots/jackal/user_manual_jackal/