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This commit is contained in:
Timo Schneider
2025-05-13 21:50:03 +02:00
parent 2a30a64314
commit 96ad8cf0ff
2 changed files with 2 additions and 2 deletions
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2
src/sherpa/config/ackermann_controller.yaml
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@@ -26,7 +26,7 @@ ackermann_controller:
rear_wheels_radius: 0.15 # Radius of wheels [m] rear_wheels_radius: 0.15 # Radius of wheels [m]
# Limits # Limits
max_steering_angle: 0.785 # [rad] ~45 degrees max_steering_angle: 1.0 # [rad] ~45 degrees
max_speed: 10.0 # [m/s] max_speed: 10.0 # [m/s]
min_speed: -5.0 # [m/s] min_speed: -5.0 # [m/s]

2
src/sherpa/urdf/sherpa.xacro
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@@ -25,7 +25,7 @@
<xacro:include filename="components/wheel.xacro"/> <xacro:include filename="components/wheel.xacro"/>
<xacro:include filename="components/ouster_lidar.xacro"/> <xacro:include filename="components/ouster_lidar.xacro"/>
<xacro:camera name="front_camera" parent="base" xyz="0 0 0.75" rpy="0 0 0" frequency="30" fov="90" topic="/front_camera"/> <xacro:camera name="front_camera" parent="base" xyz="0 0 0.75" rpy="0 0 0" frequency="30" fov="120" topic="/front_camera"/>
<xacro:imu name="imu" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" frequency="300" topic="/imu"/> <xacro:imu name="imu" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" frequency="300" topic="/imu"/>
<xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" model="vlp16" frequency="10" topic="/velodyne_points"/> <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" model="vlp16" frequency="10" topic="/velodyne_points"/>