From baaca785b10f67573d56fd6830544d3a3b270d67 Mon Sep 17 00:00:00 2001 From: Your Name Date: Mon, 20 Jan 2025 09:27:32 +0100 Subject: [PATCH] update odometry. Changed measurements --- nodes/encoder_odom_publisher.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/nodes/encoder_odom_publisher.py b/nodes/encoder_odom_publisher.py index bb85b7b..869627b 100644 --- a/nodes/encoder_odom_publisher.py +++ b/nodes/encoder_odom_publisher.py @@ -1,5 +1,9 @@ #!/usr/bin/env python +""" +Node for pusblishing segway rmp 220 lite Odometry calculated from encoder ticks_fb +""" + import rospy import tf from nav_msgs.msg import Odometry @@ -12,9 +16,9 @@ class EncoderOdometry: rospy.init_node("encoder_odom_publisher") # Robot parameters (update these according to your robot) - self.wheel_radius = 0.202 # Wheel radius in meters - self.wheel_base = 0.392 # Distance between wheels (m) - self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution + self.wheel_radius = 0.125 #0.202 # Wheel radius in meters + self.wheel_base = 0.415 #0.392 # Distance between wheels (m) + self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution --> checked fine # State variables self.x = 0.0