working wheel odom - need to change, but good start

RoboJackets · Jan 21, 2024 · a8b0cdb · a8b0cdb
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commit a8b0cdb
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Showing 2 changed files with 23 additions and 2 deletions.
diff --git a/urc_hw_description/urdf/six_wheel_simplified.xacro b/urc_hw_description/urdf/six_wheel_simplified.xacro
@@ -104,6 +104,27 @@
         <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
             <parameters>$(find urc_bringup)/config/ros2_control_walli.yaml</parameters>
         </plugin>
+
+        <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
+            <ros>
+            <namespace>/wheel</namespace>
+            </ros>
+            <!-- wheels -->
+            <left_joint>left_front_wheel_joint</left_joint>
+            <right_joint>right_front_wheel_joint</right_joint>
+            <!-- kinematics -->
+            <wheel_separation>0.4</wheel_separation>
+            <wheel_diameter>0.2</wheel_diameter>
+            <!-- limits -->
+            <max_wheel_torque>20</max_wheel_torque>
+            <max_wheel_acceleration>1.0</max_wheel_acceleration>
+            <!-- output -->
+            <publish_odom>true</publish_odom>
+            <publish_odom_tf>true</publish_odom_tf>
+            <publish_wheel_tf>true</publish_wheel_tf>
+            <odometry_frame>odom</odometry_frame>
+            <robot_base_frame>base_link</robot_base_frame>
+        </plugin>
     </gazebo>
 
     <!-- Robot Base -->

diff --git a/urc_navigation/config/ekf.yaml b/urc_navigation/config/ekf.yaml
@@ -31,14 +31,14 @@ ekf_filter_node:
         base_link_frame: base_link  # Defaults to "base_link" ifunspecified
         world_frame: odom           # Defaults to the value ofodom_frame if unspecified
 
-        odom0: demo/odom
+        odom0: /wheel/odom
         odom0_config: [true,  true,  true,
                        false, false, false,
                        false, false, false,
                        false, false, true,
                        false, false, false]
 
-        imu0: demo/imu
+        imu0: imu/data
         imu0_config: [false, false, false,
                       true,  true,  true,
                       false, false, false,