From 96ad8cf0ff3460f1f824697e374fd0a3cffebaee Mon Sep 17 00:00:00 2001
From: Timo Schneider <timoschneider04@gmail.com>
Date: Tue, 13 May 2025 21:50:03 +0200
Subject: [PATCH 1/2] asd lab

---
 src/sherpa/config/ackermann_controller.yaml | 2 +-
 src/sherpa/urdf/sherpa.xacro                | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/sherpa/config/ackermann_controller.yaml b/src/sherpa/config/ackermann_controller.yaml
index 7a61da6..5ce5295 100644
--- a/src/sherpa/config/ackermann_controller.yaml
+++ b/src/sherpa/config/ackermann_controller.yaml
@@ -26,7 +26,7 @@ ackermann_controller:
     rear_wheels_radius: 0.15  # Radius of wheels [m]
 
     # Limits
-    max_steering_angle: 0.785  # [rad] ~45 degrees
+    max_steering_angle: 1.0  # [rad] ~45 degrees
     max_speed: 10.0            # [m/s]
     min_speed: -5.0            # [m/s]
 
diff --git a/src/sherpa/urdf/sherpa.xacro b/src/sherpa/urdf/sherpa.xacro
index dbd2d9c..9a47598 100644
--- a/src/sherpa/urdf/sherpa.xacro
+++ b/src/sherpa/urdf/sherpa.xacro
@@ -25,7 +25,7 @@
     <xacro:include filename="components/wheel.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:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" model="vlp16" frequency="10" topic="/velodyne_points"/>
 

From db2c3d28b6e69465ccd56c10c4770b8d644f5af7 Mon Sep 17 00:00:00 2001
From: Timo Schneider <timoschneider04@gmail.com>
Date: Tue, 13 May 2025 21:57:36 +0200
Subject: [PATCH 2/2] updated default spawn

---
 src/sherpa/launch/asd.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/sherpa/launch/asd.launch.py b/src/sherpa/launch/asd.launch.py
index 35213df..fe780be 100644
--- a/src/sherpa/launch/asd.launch.py
+++ b/src/sherpa/launch/asd.launch.py
@@ -78,7 +78,7 @@ def generate_launch_description():
             'ros2', 'run', 'ros_gz_sim', 'create',
             '-name', 'sherpa',
             '-topic', 'robot_description',
-            '-x', '0', '-y', '0', '-z', '2'
+            '-x', '1.5', '-y', '9.5', '-z', '0.2'
         ],
         output='screen'
     )