From dc974ce747925d2a3abeb2bd23703d0e0ee2c065 Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Wed, 24 Apr 2024 18:18:01 +0200
Subject: [PATCH] Changed Serial port and dimensions

---
 src/ezbot_robot/config/omnidirectional_controller.yaml | 4 ++--
 src/ezbot_robot/description/ros2_control.xacro         | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/ezbot_robot/config/omnidirectional_controller.yaml b/src/ezbot_robot/config/omnidirectional_controller.yaml
index 2ba415b..5a61ed5 100644
--- 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
index 8ca2360..9ef8cf0 100644
--- 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>