Difference between revisions of "ConfigSteering"
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[[Category:HamsterV4]] | [[Category:HamsterV4]] | ||
[[Category:HamsterV7]] | [[Category:HamsterV7]] | ||
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=== Hamster Steering calibration instruction === | === Hamster Steering calibration instruction === | ||
Latest revision as of 12:02, 5 January 2021
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>
