Changed Serial port and dimensions

Ensmasteel · Apr 24, 2024 · dc974ce · dc974ce
1 parent f16647e
commit dc974ce
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diff --git a/src/ezbot_robot/config/omnidirectional_controller.yaml b/src/ezbot_robot/config/omnidirectional_controller.yaml
@@ -17,8 +17,8 @@ omnidirectional_controller:
       - roue_arriere_joint
       - roue_droite_joint
 
-    robot_radius: 0.1
-    wheel_radius: 0.053112205
+    robot_radius: 0.25
+    wheel_radius: 0.06
     gamma: 30.0 # angle between body fixed y axis and the normal of wheel3
 
     publish_rate: 50.0

diff --git a/src/ezbot_robot/description/ros2_control.xacro b/src/ezbot_robot/description/ros2_control.xacro
@@ -12,7 +12,7 @@
             <param name="right_wheel_name">roue_droite_joint</param>
 
             <param name="loop_rate">30</param>
-            <param name="device">/dev/pts/11</param>
+            <param name="device">/dev/ttyAMA1</param>
             <param name="baudrate">115200</param>
 
             <param name="timeout_ms">10000</param>