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clubcapra / markhor

🐐 Capra-Markhor is a ROS-based solution for managing and operating Club Capra's second rescue robot. 🐐
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Add odometry to markhor #50

Closed benmalenfant closed 1 year ago

benmalenfant commented 1 year ago

Missing tracks.launch changes...

benmalenfant commented 1 year ago

Track system should be good to go with odometry! :D I re-tuned the pid right and it makes quite a difference, also had to tune down the max speeds as previous were just arbitrary and way larger since tracks were improperly calibrated.

@saxtot @GLDuval can we get this moving? This should allow further developpement of the autonomy @SimonR99

saxtot commented 1 year ago

So, what's "tune_tracks"?

benmalenfant commented 1 year ago

So, what's "tune_tracks"?

A launch file to allow easy and precise tuning, basically just replaces the diff drive controller by passthrough velocity-velocity controllers, which you can dirrectly control via the command topic