Hint: How to change the wheel odometry parameters

#1

As there were some questions related to how to modify the software to fit different motors regarding the proper odometry readings etc., here’s the info from @Blazej_Sowa :

You will probably want to override some parameters passed to the firmware on the core2 board.

Here you can find the list of available parameters.

Edit the /etc/ros/robot.launch file by adding:

<rosparam command="load" file="/etc/ros/overrided.yaml"/>

jut before the ending </launch> tag.

Then, add the /etc/ros/overrided.yaml which should look like this:

core2:
  motors:
    encoder_resolution: 4741.44
    max_speed: <max_motor_speed>
    pid: {p: 0.0, i: 0.005, d: 0.0}

Change <max_motor_speed> according to your motor. You can also change the default PID regulator coefficients.

Now, load the parameters by typing:

rosparam load /etc/ros/overrided.yaml

If you get any syntax errors, try to fix them and try to load the params again.

And softreset the core2 board so it loads the new parameters:

rosservice call /core2/reset_board

Now, check if the wheel odometry is correct:

rostopic echo /wheel_odom