修改小车中断检测

src/robot_description/config/urdf.rviz

@@ -3,7 +3,8 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /TF1/Frames1
       Splitter Ratio: 0.449999988
     Tree Height: 595
   - Class: rviz/Selection
@@ -24,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -83,7 +84,7 @@ Visualization Manager:
       Enabled: true
       Frame Timeout: 15
       Frames:
-        All Enabled: true
+        All Enabled: false
         base_footprint:
           Value: true
         base_link:
@@ -139,7 +140,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: base_footprint
+    Fixed Frame: odom
     Frame Rate: 30
   Name: root
   Tools:
@@ -160,7 +161,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.92006087
+      Distance: 1.13394713
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -175,10 +176,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 1.00479591
+      Pitch: 0.549796343
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.79911852
+      Yaw: 2.924119
     Saved: ~
 Window Geometry:
   Displays:

src/robot_description/launch/display.launch

@@ -1,6 +1,7 @@
 <launch>
   <arg name="model" />
   <arg name="gui" default="False" />
+
   <param
     name="robot_description"
     textfile="$(find robot_description)/urdf/robot.urdf" />

src/robot_description/launch/robot_description.launch

@@ -26,6 +26,5 @@
     type="state_publisher" >
     <param name="publish_frequency" value="20.0"/>
   </node>
-
 </launch>
 

src/robot_description/urdf/robot.xacro

@@ -9,7 +9,7 @@
   <xacro:include filename="$(find robot_description)/urdf/common_properties.urdf.xacro" />
   <xacro:property name="M_SCALE" value="0.001" />
 
-  <xacro:include filename="$(find robot_description)/urdf/robotbot_stack.xacro" />
+  <xacro:include filename="$(find robot_description)/urdf/robot_stack.xacro" />
   <!--<xacro include filename="$(find robot_description)/urdf/rplidar_a2.urdf" />-->
 
 </robot>

src/ros_arduino_bridge/ros_arduino_python/config/my_arduino_params.yaml

@@ -21,7 +21,7 @@ base_frame: base_footprint
 odom_name: odom
 
 # === Robot drivetrain parameters
-wheel_diameter: 0.059
+wheel_diameter: 0.058
 wheel_track: 0.126   #L value
 encoder_resolution: 11 #12V DC motors
 gear_reduction: 103

src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/base_controller.py

@@ -43,7 +43,7 @@ class BaseController:
         self.timeout    = rospy.get_param("~base_controller_timeout", 0.7)
 
         pid_params = dict()
-        pid_params['wheel_diameter']     = rospy.get_param("~wheel_diameter", 0.059)
+        pid_params['wheel_diameter']     = rospy.get_param("~wheel_diameter", 0.058)
         pid_params['wheel_track']        = rospy.get_param("~wheel_track", 0.126)
         pid_params['encoder_resolution'] = rospy.get_param("~encoder_resolution", 11)
         pid_params['gear_reduction']     = rospy.get_param("~gear_reduction", 103)
@@ -71,7 +71,7 @@ class BaseController:
         self.setup_pid(pid_params)
 
         # How many encoder ticks are there per meter?
-        self.ticks_per_meter = self.encoder_resolution*self.gear_reduction*4/(self.wheel_diameter*pi)
+        self.ticks_per_meter = self.encoder_resolution*self.gear_reduction*2/(self.wheel_diameter*pi)
         self.ticks_per_meter = self.ticks_per_meter/self.linear_scale_correction
 
         # What is the maximum acceleration we will tolerate when changing wheel speeds?