changed max vel wheel joint | changed testing velocities to the maxim…

…um velocity Signed-off-by: Jakub Delicat <[email protected]>
husarion · Oct 11, 2023 · 9dde480 · 9dde480
1 parent 92bd0a7
commit 9dde480
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Showing 5 changed files with 12 additions and 9 deletions.
diff --git a/rosbot_bringup/config/ekf.yaml b/rosbot_bringup/config/ekf.yaml
@@ -36,7 +36,7 @@ ekf_filter_node:
         imu0_differential: false
         imu0_relative: true
         imu0_remove_gravitational_acceleration: true
-        
+
         # [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
         # exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
         # prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
@@ -73,7 +73,7 @@ ekf_filter_node:
                                       0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
-                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-8, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,     0.0,     0.0,     0.0,    0.0,    0.0,

diff --git a/rosbot_description/urdf/wheel.urdf.xacro b/rosbot_description/urdf/wheel.urdf.xacro
@@ -63,7 +63,7 @@
       <child link="${prefix}_wheel_link" />
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0.0 1.0 0.0" />
-      <limit effort="1.5" velocity="5.0" />
+      <limit effort="1.5" velocity="24.0" />
       <dynamics damping="0.001" friction="0.001" />
     </joint>
 

diff --git a/rosbot_gazebo/test/simulation_test_node.py b/rosbot_gazebo/test/simulation_test_node.py
@@ -22,7 +22,6 @@
 
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
-import tf_transformations
 
 
 class SimulationTestNode(Node):

diff --git a/rosbot_gazebo/test/test_diff_drive_simulation.py b/rosbot_gazebo/test/test_diff_drive_simulation.py
@@ -57,11 +57,13 @@ def test_diff_drive_simulation():
         node.create_test_subscribers_and_publishers()
         node.start_node_thread()
 
-        node.set_destination_speed(0.2, 0.0, 0.0)
+        # 0.9 m/s and 3.0 rad/s are controller's limits defined in
+        #   rosbot_controller/config/diff_drive_controller.yaml
+        node.set_destination_speed(0.9, 0.0, 0.0)
         msgs_received_flag = node.goal_x_event.wait(timeout=60.0)
         assert msgs_received_flag, "ROSbot does not move properly in x direction!"
 
-        node.set_destination_speed(0.0, 0.0, 1.57)
+        node.set_destination_speed(0.0, 0.0, 3.0)
         msgs_received_flag = node.goal_yaw_event.wait(timeout=60.0)
         assert msgs_received_flag, "ROSbot does not rotate properly!"
 

diff --git a/rosbot_gazebo/test/test_mecanum_simulation.py b/rosbot_gazebo/test/test_mecanum_simulation.py
@@ -58,15 +58,17 @@ def test_mecanum_simulation():
         node.create_test_subscribers_and_publishers()
         node.start_node_thread()
 
-        node.set_destination_speed(0.2, 0.0, 0.0)
+        # 0.9 m/s and 3.0 rad/s are controller's limits defined in
+        #   rosbot_controller/config/mecanum_drive_controller.yaml
+        node.set_destination_speed(0.9, 0.0, 0.0)
         msgs_received_flag = node.goal_x_event.wait(timeout=60.0)
         assert msgs_received_flag, "ROSbot does not move properly in x direction!"
 
-        node.set_destination_speed(0.0, 0.2, 0.0)
+        node.set_destination_speed(0.0, 0.9, 0.0)
         msgs_received_flag = node.goal_y_event.wait(timeout=60.0)
         assert msgs_received_flag, "ROSbot does not move properly in y direction!"
 
-        node.set_destination_speed(0.0, 0.0, 1.00)
+        node.set_destination_speed(0.0, 0.0, 3.0)
         msgs_received_flag = node.goal_yaw_event.wait(timeout=60.0)
         assert msgs_received_flag, "ROSbot does not rotate properly!"