Ported over odometry and control using new serial communication

2026-02-08 00:49:45 +01:00
parent 05e7398731
commit fc5fecdfc1
20 changed files with 1213 additions and 30 deletions
--- a/toid_control/params/toid_general_params.yaml
+++ b/toid_control/params/toid_general_params.yaml
@@ -0,0 +1,22 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 200
+
+    diffdrive_controller:
+      type: diff_drive_controller/DiffDriveController
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffdrive_controller:
+  ros__parameters:
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+    
+    enable_odom_tf: true 
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+
+    open_loop: true 
+
+    wheel_separation: 0.192
+    wheel_radius: 0.032