From f206f5c058765b87da6dea40d7cbf1738728821c Mon Sep 17 00:00:00 2001 From: "liam.jemmeson" Date: Tue, 9 Jul 2024 10:24:11 +0900 Subject: [PATCH 1/2] Fixing issue with steering --- .../default/ftd_sensor_kit/sensor_kit_calibration.yaml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml index ad3eb08..e778853 100644 --- a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml +++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml @@ -10,9 +10,12 @@ sensor_kit_base_link: x: 0.29 y: -0.14 z: -0.73 - roll: -3.14159 + # roll: -3.14159 + # pitch: 0.0 + # yaw: -1.5708 + roll: 0.0 pitch: 0.0 - yaw: -1.5708 + yaw: 0.0 # ydlidar_front_base_link: # Okinawa testbed planned # x: 0.22 # y: 0.0 From 66bfaa4171f40a0e1d010116c79d5e434046f819 Mon Sep 17 00:00:00 2001 From: "liam.jemmeson" Date: Tue, 9 Jul 2024 12:40:54 +0900 Subject: [PATCH 2/2] Added rotation in IMU to match sim --- .../config/default/ftd_sensor_kit/sensor_kit_calibration.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml index e778853..7b813ac 100644 --- a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml +++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml @@ -34,6 +34,6 @@ sensor_kit_base_link: x: -0.5 y: 0.0 z: -0.50 - roll: 0.0 + roll: 3.14159265359 pitch: 0.0 - yaw: 0.0 + yaw: 3.14159265359