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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
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18
Devices/Packages/ros_kinematics/cfg/DiffDriveParameters.cfg Executable file
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#!/usr/bin/env python
PACKAGE = 'ros_kinematics'
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t
gen = ParameterGenerator()
# Kinematic parameters related
gen.add("left_wheel_radius_multiplier", double_t, 0, "Left wheel radius multiplier.", 1.0, 0.5, 1.5)
gen.add("right_wheel_radius_multiplier", double_t, 0, "Right wheel radius multiplier.", 1.0, 0.5, 1.5)
gen.add("wheel_separation_multiplier", double_t, 0, "Wheel separation multiplier.", 1.0, 0.5, 1.5)
# Publication related
gen.add("publish_rate", double_t, 0, "Publish rate of odom.", 50.0, 0.0, 2000.0)
gen.add("enable_odom_tf", bool_t, 0, "Publish odom frame to tf.", False)
exit(gen.generate(PACKAGE, "ros_kinematics", "DiffDriveParameters"))

11
Devices/Packages/ros_kinematics/cfg/SteerDriveParameters.cfg Executable file
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#!/usr/bin/env python
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t
gen = ParameterGenerator()
gen.add('odomEncSteeringAngleOffset', double_t, 0, 'Góc bẻ lái động cơ lái được offset so với gốc origin ', 1.757546557, 0.0, 6.283185)
gen.add('steering_fix_wheel_distance_x', double_t, 0, 'Khoảng cách tâm O quay quanh trục Z động cơ Steer theo trục X', 1.3268, 0.0, 5.0)
gen.add('steering_fix_wheel_distance_y', double_t, 0, 'Khoảng cách tâm O quay quanh trục Z động cơ Steer theo trục X', 0.0, 0.0, 5.0)
gen.add('wheelAcceleration', double_t, 0, 'Gia tốc bánh kéo', 0.0, 0.0, 3.0)
exit(gen.generate('ros_kinematics', 'ros_kinematics', 'SteerDriveParameters'))