From 30201beed7b481bf334485ac2199488b11ecf297 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+Pimpest@users.noreply.github.com>
Date: Fri, 7 Feb 2025 16:41:57 +0100
Subject: [PATCH] Updated robot parameters

---
 mg_wheel_interface/assets/mg_base.urdf             | 14 +++++++++-----
 mg_wheel_interface/assets/mg_base_controllers.yaml |  6 +++---
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/mg_wheel_interface/assets/mg_base.urdf b/mg_wheel_interface/assets/mg_base.urdf
index 377965c..a3d4208 100644
--- a/mg_wheel_interface/assets/mg_base.urdf
+++ b/mg_wheel_interface/assets/mg_base.urdf
@@ -13,7 +13,7 @@
     <link name="base-link">
         <visual>
             <geometry>
-                <box size="0.5 0.5 0.2" color="yellow"/>
+                <box size="0.24 0.32 0.12" color="yellow"/>
             </geometry>
             <origin xyz="0 0 0.12" rpy="0 0 0" />
             <material name="red" />
@@ -24,7 +24,7 @@
 
         <visual>
             <geometry>
-                <cylinder radius="0.1" length="0.05"/>
+                <cylinder radius="0.075" length="0.05"/>
             </geometry>
             <origin xyz="0 0 0" rpy="0 0 0" />
             <material name="gray" />
@@ -34,7 +34,7 @@
     <link name="right-wheel">
         <visual>
             <geometry>
-                <cylinder radius="0.1" length="0.05"/>
+                <cylinder radius="0.075" length="0.05"/>
             </geometry>
             <origin xyz="0 0 0." rpy="0 0 0" />
             <material name="gray" />
@@ -43,21 +43,25 @@
     <joint name="right_motor" type="continuous">
         <parent link="base-link"/>
         <child link="right-wheel"/>
-        <origin xyz="0 -0.25 0.1" rpy="1.57 0 0" />
+        <origin xyz="0 -0.16 0.075" rpy="1.57 0 0" />
         <axis xyz="0 0 1"/>
     </joint>
 
     <joint name="left_motor" type="continuous">
         <parent link="base-link"/>
         <child link="left-wheel"/>
-        <origin xyz="0 0.25 0.1" rpy="1.57 0 0" />
+        <origin xyz="0 0.16 0.075" rpy="1.57 0 0" />
         <axis xyz="0 0 1"/>
     </joint>
 
 
     <ros2_control name="mg-base" type="system">
         <hardware>
+        <!--
             <plugin>mg_wheel_interface/MgOdriveInterface</plugin>
+        -->
+            <plugin>mock_components/GenericSystem</plugin> 
+            <param name="calculate_dynamics">true</param> 
         </hardware>
         <joint name="left_motor">
             <command_interface name="velocity"/>
diff --git a/mg_wheel_interface/assets/mg_base_controllers.yaml b/mg_wheel_interface/assets/mg_base_controllers.yaml
index 84b4b79..cde0a7a 100644
--- a/mg_wheel_interface/assets/mg_base_controllers.yaml
+++ b/mg_wheel_interface/assets/mg_base_controllers.yaml
@@ -16,7 +16,7 @@ diffdrive_controller:
     odom_frame_id: odom
     base_frame_id: base-link
 
-   open_loop: true 
+    open_loop: true 
 
-    wheel_separation: 0.0964
-    wheel_radius: 0.035
\ No newline at end of file
+    wheel_separation: 0.258
+    wheel_radius: 0.075
\ No newline at end of file