From 01059844586f60924b0a3ebb413e721fb0b4efe0 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Tue, 24 Mar 2026 20:39:18 +0100
Subject: [PATCH] Fixed tf_buffer_ not being initialized

---
 docker-compose.yaml         | 1 +
 firmware/base/src/config.h  | 5 +++--
 firmware/base/src/main.c    | 4 ++--
 toid_bt/src/bt_executor.cpp | 3 ++-
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 2623755..97435e1 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,6 +1,7 @@
 services:
   toid:
     image: localhost:5000/toid 
+    build: .
     container_name: toid
 
     privileged: true
diff --git a/firmware/base/src/config.h b/firmware/base/src/config.h
index bd77eb3..b873097 100644
--- a/firmware/base/src/config.h
+++ b/firmware/base/src/config.h
@@ -24,7 +24,8 @@
 #define ENCODER_LEFT_PIN_B  13
 #define ENCODER_CPR         3840
 
-#define WHEEL_RADIUS     0.0300
-#define WHEEL_SEPARATION 0.264
+//#define WHEEL_RADIUS     (0.0300 * 1.01483541)
+#define WHEEL_RADIUS     0.028
+#define WHEEL_SEPARATION 0.271
 #define TIMER_CYCLE_US   1000
 //======================================================
diff --git a/firmware/base/src/main.c b/firmware/base/src/main.c
index cdf5b9b..8fa9b21 100644
--- a/firmware/base/src/main.c
+++ b/firmware/base/src/main.c
@@ -62,8 +62,8 @@ typedef struct calib_diff_t {
 } calib_diff_t;
 
 static calib_diff_t calib_enc = {
-    .left_gain = 1.000,
-    .right_gain = 1.0000
+    .left_gain = 1.0,  
+    .right_gain = 1.0,
 };
 
 void update_pos_cb() {
diff --git a/toid_bt/src/bt_executor.cpp b/toid_bt/src/bt_executor.cpp
index f4ef107..b9eff34 100644
--- a/toid_bt/src/bt_executor.cpp
+++ b/toid_bt/src/bt_executor.cpp
@@ -19,9 +19,10 @@ TreeExecutor::TreeExecutor(const rclcpp::NodeOptions opts)
   /* 
   executeRegistration();
   std::cout << BT::writeTreeNodesModelXML(factory()) << std::endl;
+  */
   tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node()->get_clock());
   tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
-  */
+  
 
   nav2_util::declare_parameter_if_not_declared(
     node(), "base_frame", rclcpp::ParameterValue("base_footprint"));