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Signed-off-by: Thomas Chou <thomas@wytron.com.tw>
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hey @hippo5329 could you add the velocity smoother for the sim config as well, please? https://github.com/linorobot/linorobot2/blob/humble/linorobot2_navigation/config/navigation_sim.yaml |
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Updated with sim. Thanks. |
hippo5329
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This for 2wd/4wd, Y=0.
max_velocity: [0.5, 0.0, 2.5]
min_velocity: [-0.5, 0.0, -2.5]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
Set Y=X for mecanum
max_velocity: [0.5, 0.5, 2.5]
min_velocity: [-0.5, -0.5, -2.5]
max_accel: [2.5, 2.5, 3.2]
max_decel: [-2.5, -2.5, -3.2]
Signed-off-by: Thomas Chou <thomas@wytron.com.tw>
hippo5329
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Enable madgwick filter to fuse imu and magnetometer. Signed-off-by: Thomas Chou <thomas@wytron.com.tw>
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Please pull the updates.
bringup: add micro_ros_baudrate param to support custom baudrate. As esp32 needs 921600 baud to run the control loop at 50Hz.
bringup: add madgwick support to fuse imu and magnetometer.
add velocity_smoother parameters with default values. Needed changes for mecanum.
Best regard,
Thomas Chou