Difference between revisions of "ConfigSteering"

Revision as of 07:27, 2 July 2020

Hamster Steering calibration instruction

• on your desktop

<syntaxhighlight lang="bash" line='line'> export ROS_IP=10.0.2.<your desktop IP> export ROS_MASTER_URI=http://10.0.2.<HamsterID>:11311 </syntaxhighlight>

• ssh to the hamster pi@10.0.2.<HamsterID>
• password is hamster

<syntaxhighlight lang="bash" line='line'> cd hamster_ws/src/hamster/hamster_launch/launch/ pico platform.launch </syntaxhighlight>

• In hamster_driver node change

<syntaxhighlight lang="bash" line='line'> steer_offset=0 </syntaxhighlight>

• -deg will compensate and the robot will turn stronger to the right
• +deg will compensate and the robot will turn stronger to the left

• Test with slow speed

<syntaxhighlight lang="bash" line='line'> rostopic pub /agent<AgentID>/ackermann_cmd ackermann_msgs/AckermannDriveStamped "header:

 seq: 0
 stamp:
   secs: 0
   nsecs: 0
 frame_id: 

drive: {steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 0.01, acceleration: 0.0,

 jerk: 0.0}" -r 10

</syntaxhighlight>