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odom: fixing odom calculation for scout mini omni

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This commit is contained in:
Ruixiang Du
2021-12-08 15:55:20 +08:00
parent 10ced09855
commit 02fe21e5dd
4 changed files with 5 additions and 5 deletions
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4
scout_base/include/scout_base/scout_messenger.hpp
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@@ -161,8 +161,8 @@ class ScoutMessenger {
lateral_speed = 0;
}
double d_x = linear_speed * std::cos(theta_) * dt;
double d_y = (linear_speed * std::sin(theta_) + lateral_speed) * dt;
double d_x = (linear_speed * std::cos(theta_) - lateral_speed * std::sin(theta_)) * dt;
double d_y = (linear_speed * std::sin(theta_) + lateral_speed * std::cos(theta_)) * dt;
double d_theta = angular_speed * dt;
position_x_ += d_x;

2
scout_base/launch/scout_mini_omni_base.launch
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@@ -15,7 +15,7 @@
<arg name="simulated_robot" default="false" />
<arg name="odom_topic_name" default="odom" />
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen" launch-prefix="valgrind">
<param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
<param name="is_omni_wheel" type="bool" value="$(arg is_omni_wheel)" />
<param name="port_name" type="string" value="$(arg port_name)" />

2
scout_bringup/launch/scout_mini_minimal.launch
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@@ -4,7 +4,7 @@
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="false" />
<arg name="simulated_robot" value="false" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini.xacro" />
<arg name="odom_topic_name" default="odom" />
<include file="$(find scout_base)/launch/scout_mini_base.launch">

2
scout_bringup/launch/scout_mini_omni_minimal.launch
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@@ -4,7 +4,7 @@
<arg name="is_scout_mini" default="true" />
<arg name="is_omni_wheel" default="true" />
<arg name="simulated_robot" value="false" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini.xacro" />
<!-- <arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_omni_v2.xacro" /> -->
<arg name="odom_topic_name" default="odom" />