How to set vehicle info param for diff-drive robot ?

[soblin]

I'm trying to use planning simulator (psim) with the urdf model of a simple diff-drive robot, like the one with a cubic vehicle body
sandwiched between two wheels. I noticed that psim is using a package called "vehicle_info_util" that tries to get ros parameters as listed here.

I think some parameters like wheel_tread wheel_base do not make sense to diff-drive robot, but it looks like the current system requires those parameters pre-defined. Do you think it's ok to set those irrelevant parameters to zero ?

[shmpwk]

From @TakaHoribe

wheel_base is defined as "between front wheel center and rear wheel center"

I think some parameters like wheel_tread do not make sense to diff-drive robot, but it looks like the current system requires those parameters pre-defined. Do you think it's ok to set those irrelevant parameters to zero ?

The answer is no.
Currently the autoware does not consider such a diff-drive model.
If you set wheel_base parameter 0, it might cause the controling problem.
Thus we wants you to set the pseudo wheel_base and whatever pseudo value is ok above 0.

See the discussion #170 (comment)