ellensohn/cps_rmp220_support
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update odometry. Changed measurements

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Your Name 2025-01-20 09:27:32 +01:00
parent 5499af6c4e
commit baaca785b1
1 changed files with 7 additions and 3 deletions
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nodes/encoder_odom_publisher.py
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@ -1,5 +1,9 @@
#!/usr/bin/env python #!/usr/bin/env python
"""
Node for pusblishing segway rmp 220 lite Odometry calculated from encoder ticks_fb
"""
import rospy import rospy
import tf import tf
from nav_msgs.msg import Odometry from nav_msgs.msg import Odometry
@ -12,9 +16,9 @@ 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 = 0.202 # Wheel radius in meters self.wheel_radius = 0.125 #0.202 # Wheel radius in meters
self.wheel_base = 0.392 # Distance between wheels (m) self.wheel_base = 0.415 #0.392 # Distance between wheels (m)
self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution --> checked fine
# State variables # State variables
self.x = 0.0 self.x = 0.0