Merge pull request #8 from booars/sync-upstream

chore: sync upstream

aichallenge/workspace/src/aichallenge_submit/racing_kart_description/config/vehicle_info.param.yaml

@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
-    wheel_radius: 0.255
-    wheel_width: 0.196
+    wheel_radius: 0.24
+    wheel_width: 0.18 # wheel width of the rear wheel
     wheel_base: 1.087 # between front wheel center and rear wheel center
-    wheel_tread: 0.975 # between left wheel center and right wheel center
+    wheel_tread: 1.12 # between rear left wheel center and rear right wheel center
     front_overhang: 0.467 # between front wheel center and vehicle front
     rear_overhang: 0.510 # between rear wheel center and vehicle rear
-    left_overhang: 0.145 # between left wheel center and vehicle left
-    right_overhang: 0.145 # between right wheel center and vehicle right
+    left_overhang: 0.09 # between rear left wheel center and vehicle left (the half of the rear wheel width)
+    right_overhang: 0.09 # between rear right wheel center and vehicle right (the half of the rear wheel width)
     vehicle_height: 2.2 # vehicle height + sensor_kit height
     max_steer_angle: 0.64 # [rad]

aichallenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml

@@ -1,8 +1,8 @@
 sensor_kit_base_link:
   gnss_link:
-    x: -0.1
+    x: 0.0
     y: 0.0
-    z: -0.2
+    z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 0.0