/
vesc.yaml
executable file
·56 lines (49 loc) · 1.7 KB
/
vesc.yaml
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/**:
# general parameters shared by all vesc-related nodes
ros__parameters:
# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset
speed_to_erpm_gain: 4614.0
speed_to_erpm_offset: 0.0
# servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset
steering_angle_to_servo_gain: -1.2135
steering_angle_to_servo_offset: 0.5304
port: /dev/sensors/vesc
duty_cycle_min: 0.0
duty_cycle_max: 0.0
current_min: 0.0
current_max: 100.0
brake_min: -20000.0
brake_max: 200000.0
speed_min: -23250.0
speed_max: 23250.0
position_min: 0.0
position_max: 0.0
servo_min: 0.15
servo_max: 0.85
# No longer needed, all parameters are shared
# ackermann_to_vesc_node:
# ros__parameters:
vesc_to_odom_node:
ros__parameters:
odom_frame: odom
base_frame: base_link
# publish odom to base link tf
publish_tf: true
use_servo_cmd_to_calc_angular_velocity: true
# car wheelbase is about 25cm
wheelbase: .25
# No longer needed, all parameters are shared
# vesc_driver:
# ros__parameters:
throttle_interpolator:
ros__parameters:
rpm_input_topic: commands/motor/unsmoothed_speed
rpm_output_topic: commands/motor/speed
servo_input_topic: commands/servo/unsmoothed_position
servo_output_topic: commands/servo/position
# servo smoother - limits acceleration and smooths anything above limit
max_acceleration: 2.5 # meters/second^2
throttle_smoother_rate: 75.0 # messages/sec
# servo smoother - limits rotation speed and smooths anything above limit
max_servo_speed: 3.2 # radians/second
servo_smoother_rate: 75.0 # messages/sec