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husky / husky_robot

Robot (Hardware) packages for the Clearpath Husky
http://wiki.ros.org/Robots/Husky
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changed Husky tire to 13 inches (0.3302m) #9

Closed majcote closed 7 years ago

majcote commented 7 years ago

It seems it's always been incorrect, A customer has reported currently 1 revolution does not report 2 pi radians.

Husky uses a Carlisle: Super Lug 13/5.00-6, which is 13 inches

paulbovbel commented 7 years ago

FYI https://github.com/husky/husky/blob/c81085ee8f62ddd2acaf9148585e2d606ff07b23/husky_description/urdf/husky.urdf.xacro#L61

UltronDestroyer commented 7 years ago

How is that not applicable? The URDF should be updated too. We need to be sure this is is true for more than one customer and more than one robot.. I'm going to go measure out back.

UltronDestroyer commented 7 years ago

@tonybaltovski Why did you force merge this? Do we know this is the case for all Huskys? URDF needs to be update to as the sim needs to reflect it accurately.

tonybaltovski commented 7 years ago

LGTM @majcote. Update the main husky repo for kinetic and indigo.

UltronDestroyer commented 7 years ago

Ermh, https://github.com/husky/husky/blob/c81085ee8f62ddd2acaf9148585e2d606ff07b23/husky_description/urdf/husky.urdf.xacro#L61 still stands.. Not sure why this is merged.

tonybaltovski commented 7 years ago

@TheDash that is the correct wheel size.

UltronDestroyer commented 7 years ago

Wheel radius: 0.17705 Wheel diameter: 0.3302

You tryin' to tell me that 0.17705*2 is 0.3302?

majcote commented 7 years ago

It's a different package, I'm making a PR for it now

UltronDestroyer commented 7 years ago

Ah, yeah. Husky_robot is deprecated.