about wheel separation and radius multipliers values

[kimms74]

hello, i try to get odometry data from husky_velocity_controller/odom.

In control.yaml, default value of wheel_separation_multiplier: 1.875 and wheel_radius_multiplier: 1.0.

With these value, i got very wrong odometry position and rotation.(odom velocity is about twice as fast than real velocity)

So, i changed wheel_radius_multiplier with 0.5, and then i got accurate odometry position.

And i tested 180 degree rotation, and i got 169 degree rotation from odom data with wheel_separation_multiplier 1.875.

So, i changed wheel_separation_multiplier 1.525, and then i got 179 degree rotation.(almost accurate)

1. How you choose the wheel_separation_multiplier 1.875?
2. Why wheel_radius_multiplier 0.5 and wheel_separation_multiplier 1.525 is right value for position?

Thanks you

++ How can i change joint_states velocity?

It doesn't change even if i change the wheel_separation and wheel_radius multiplier.

And joint_states velocity is also twice as fast than real velocity.

++ Recently, my husky robot was sent to clearpath company and is upgraded with more power, and i got husky in indoor wheel.

I think when they upgrade my husky robot, encoder resolution is changed, so velocity is about twice as fast than real.

[narutojxl]

Hi @kimms74, i'm also curious about this question and i also found husky_velocity_controller/odom linear velocity vx and angular velocity wz are the same with gazebo received speed command, its pose is derived from these two velocities, which is different from the actual velocity and actual pose, please see here.

[tonybaltovski]

Closing due to inactivity. Please feel free to re-open if issue persists.