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Update encoder_odom_publisher.py

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bjoernellens1 2025-01-16 11:16:02 +01:00 committed by GitHub
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1 changed files with 3 additions and 3 deletions
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nodes/encoder_odom_publisher.py
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@ -12,9 +12,9 @@ class EncoderOdometry:
rospy.init_node("encoder_odom_publisher") rospy.init_node("encoder_odom_publisher")
# Robot parameters (update these according to your robot) # Robot parameters (update these according to your robot)
self.wheel_radius = 0.05 # Wheel radius in meters self.wheel_radius = 0.202 # Wheel radius in meters
self.wheel_base = 0.3 # Distance between wheels (m) self.wheel_base = 0.392 # Distance between wheels (m)
self.ticks_per_revolution = 1000 # Encoder ticks per wheel revolution self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution
# State variables # State variables
self.x = 0.0 self.x = 0.0