From 019fafdb561fb2a39aeae54bd4dfff1262c8003c Mon Sep 17 00:00:00 2001 From: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Date: Thu, 8 Aug 2024 11:56:02 +0900 Subject: [PATCH 1/2] fix: vehicle info (#35) Signed-off-by: Masahiro Kubota --- .../config/vehicle_info.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/config/vehicle_info.param.yaml b/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/config/vehicle_info.param.yaml index 038186d0..16fc2038 100644 --- a/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/config/vehicle_info.param.yaml +++ b/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] \ No newline at end of file From 8388d37cb85d8a36551e64b103cfc56f98c68b53 Mon Sep 17 00:00:00 2001 From: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Date: Thu, 8 Aug 2024 11:57:25 +0900 Subject: [PATCH 2/2] fix: modify the tf of gnss (#33) Signed-off-by: Masahiro Kubota --- .../config/sensor_kit_calibration.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml b/aichallenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml index 01acce21..1778c130 100644 --- a/aichallenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml +++ b/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