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yujinrobot / kobuki

Software for iClebo Kobuki
kobuki.yujinrobot.com
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description: wheel_radius(left) != wheel_radius(right) ? #400

Closed gavanderhoorn closed 4 years ago

gavanderhoorn commented 4 years ago

Not sure this matters, but it would appear the wheel_left_link and wheel_right_link have slightly different radii configured for the collision geometry.

Left:

https://github.com/yujinrobot/kobuki/blob/161f69310ef94d2ab7566cf085231e832b8985cf/kobuki_description/urdf/kobuki.urdf.xacro#L78

Right:

https://github.com/yujinrobot/kobuki/blob/161f69310ef94d2ab7566cf085231e832b8985cf/kobuki_description/urdf/kobuki.urdf.xacro#L106

Is this on purpose?

corot commented 4 years ago

mmmm...... never noticed this. I guess no.

On Tue, Nov 26, 2019 at 4:51 AM G.A. vd. Hoorn notifications@github.com wrote:

Not sure this matters, but it would appear the wheel_left_link and wheel_right_link have slightly different radii configured for the collision geometry.

Left:

https://github.com/yujinrobot/kobuki/blob/161f69310ef94d2ab7566cf085231e832b8985cf/kobuki_description/urdf/kobuki.urdf.xacro#L78

Right:

https://github.com/yujinrobot/kobuki/blob/161f69310ef94d2ab7566cf085231e832b8985cf/kobuki_description/urdf/kobuki.urdf.xacro#L106

Is this on purpose?

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gavanderhoorn commented 4 years ago

Do we know which one is the correct radius?

See also kobuki don't go straight, get a little to the right in gazebo on ROS Answers.

corot commented 4 years ago

According to Kobuki Parameters (https://yujinrobot.github.io/kobuki/enAppendixKobukiParameters.html), 35 mm. But I don't have a robot with me to double check...

wow! I was considering if that error could have any impact on Gazebo! very good catch!

On Tue, Nov 26, 2019 at 5:12 PM G.A. vd. Hoorn notifications@github.com wrote:

Do we know which one is the correct radius?

See also kobuki don't go straight, get a little to the right in gazebo https://answers.ros.org/question/338481 on ROS Answers.

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gavanderhoorn commented 4 years ago

Will you PR a fix, or should 'someone else' do that? :)