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linorobot / linorobot2

Autonomous mobile robots (2WD, 4WD, Mecanum Drive)
Apache License 2.0
436 stars 148 forks source link

Pr mag #120

Open hippo5329 opened 1 month ago

hippo5329 commented 1 month ago

Please pull the updates.

  1. bringup: add micro_ros_baudrate param to support custom baudrate. As esp32 needs 921600 baud to run the control loop at 50Hz.

  2. bringup: add madgwick support to fuse imu and magnetometer.

  3. add velocity_smoother parameters with default values. Needed changes for mecanum.

Best regard, Thomas Chou

grassjelly commented 1 month ago

hey @hippo5329 could you add the velocity smoother for the sim config as well, please? https://github.com/linorobot/linorobot2/blob/humble/linorobot2_navigation/config/navigation_sim.yaml

hippo5329 commented 1 month ago

Updated with sim. Thanks.