Fixed wheel diameter in URDF #230
Conversation
JesusSilvaUtrera
requested review from
francocipollone and
jballoffet
as code owners
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Thanks @JesusSilvaUtrera for contributing to Andino!
Please notice that the DCO check is failing because the commit is not signed. See https://github.com/Ekumen-OS/andino/pull/230/checks?check_run_id=22870646833 for instructions on how to fix it.
On the other hand, I would appreciate it if you could use the PR description template, which is useful so as to avoid missing any important information (such as linking this PR to an issue).
Thanks!
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On the other hand, how was this tested? Were you able to run the simulation? If so, I would appreciate it if you could attach a screenshot or gif where the changes can be depicted. Thanks! |
Signed-off-by: JesusSilvaUtrera <[email protected]>
Adding to this: The change will be only noticed in the odometry calculation and velocity of the wheels. Not visual change here. |
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@jballoffet I was able to run the simulation and teleoperate the robot in Gazebo using 'teleop_twist_keyboard', but as this change is minimal and it can be easily appreciated I did not include any evidence, sorry. In future PRs I will ensure to do this, thanks Javi for the feedback! |
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@francocipollone I could add the output of an 'echo' in the odometry or velocity topics if you want |
Not needed! LGTM for me . Thanks for contributing 😃 |
This is just a test pull request to start getting used to the workflow, just changed the value of the wheel diameter to be coherent with the wheel radius in the YAML.
I have reviewed other modules and there is n sense in loading the YAML into the URDF because none of the paramters in it are used in this xacro file, so regarding that this is the only place the wheel_diameter is used it would not be bad to hardcode it.