Update Gazebo with new masses and sensor suite #193

chsahit · 2017-03-01T01:12:52Z

Closes #161
Closes #196

irapha

im approving but there's a to-fix please fix <3

irapha · 2017-03-01T02:13:00Z

buzzmobile/simulation/models/car/car_joints.urdf

@@ -198,7 +213,7 @@
            <headingDriftFrequency>0.0 0.0 0.0</headingDriftFrequency>
            <headingGaussianNoise>0.0 0.0 0.0</headingGaussianNoise>
        </plugin>
-    </gazebo>
+    </gazebo>-->


can you remove the commented out things?

oops just saw this will do

cool. merge when you do, unless you add things then i can rereview

irapha

unapproving since you asked me to. LMK when i can review

…published by gazebo" This reverts commit 6094942. Conflicts: buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

…zmobile into navsatfix

…zmobile into navsatfix Conflicts: buzzmobile/launch/includes/sim_spawn_car.launch buzzmobile/launch/simulation.launch buzzmobile/package.xml

…navsatfix Conflicts: buzzmobile/package.xml

…navsatfix

chsahit · 2017-04-26T21:47:32Z

@irapha ok updated this PR because I was doing everything on this branch

irapha

also ur build is broken

irapha · 2017-04-27T02:06:38Z

buzzmobile/constants.yaml

@@ -44,7 +44,7 @@ wheel_separation: 1.3716 # distance between left and right wheels in meters
 max_steering_angle: 0.262 # radians (=15 degrees)

 # Max speed of buzzmobile in m/s
-max_speed: 0.2
+max_speed: 2 #TODO this is a murder machine


why this change then? just for checking that simulation works?

our max speed is likely less than 2 m/s but also more than 0.2. I can update the TODO to be more professional (I'll do that for all of them in this PR), but max speed is something we just need to measure. If we left the max speed at 0.2 the car won't move.

IIRC we put 0.2 down because the arduino software we got from RJ had a few bugs where in it would flush the speed update messages all at once, causing toyota mode to happen. We fixed it for when it was going forward, but didn't have time to do anything when it was turning.

You can experiment with this speed when you have access to the car, but I'd start with slow speed at first so you don't die while trying to figure out what the ideal speed is.

I'm bumping it down to 1 m/s now as a compromise. Still a bit faster than the car but if we set it to 0.2 then the simulation (running at 0.03 real time factor) doesn't let you see the car move.

irapha · 2017-04-27T02:08:16Z

buzzmobile/launch/includes/sim_spawn_car.sh

@@ -1,5 +1,5 @@
 #! /bin/bash

-sleep 3
+sleep 15


is this neeeddeeeeddddddddd??? such overhead, and we're not even using the launch script! why

Its a good kludge, there should at least be a todo to investigate what that actually relies on, and to instrument something that manages process deps better.

there's an issue #158

I'll change it back to 3 since we're not using the launch script.

irapha · 2017-04-27T02:09:02Z

buzzmobile/launch/simulation.launch

@@ -9,7 +9,7 @@
        <include file="$(find buzzmobile)/launch/includes/mapping.launch"/>
        <include file="$(find buzzmobile)/launch/includes/steering.launch"/>
        <include file="$(find buzzmobile)/launch/includes/lidar.launch"/>
-        <include file="$(find buzzmobile)/launch/includes/controller.launch"/>
+        <!--<include file="$(find buzzmobile)/launch/includes/controller.launch"/>-->


huh i guess this change makes sense, right? we don't want controller in simulation

wait controller.launch also has car_pose_mux, which we need to make this work. how did you test this at all without car_pose_mux?

you just have rqt publish the state of the car to be 0 (AUTO).

but you still need car_pose_mux. That's the thing that takes in auto_car_pose and outputs car_pose.

I agree you don't need the controller node, but you need the car_pose_mux, which is in controller*.launch*

Yeah I'm not sure why this worked either because one would think that the PID controller would need to poll the pose of the car to calculate output, but it worked. Nonetheless, I added the car_pose_mux import back.

irapha · 2017-04-27T02:09:20Z

buzzmobile/plan/steering/steering.py

@@ -41,7 +41,7 @@
 BRAKING_DISTANCE = rospy.get_param('braking_distance')
 THRESHHOLD = rospy.get_param('braking_score_threshhold')
 BUZZMOBILE_WIDTH = rospy.get_param('buzzmobile_width')
-MAX_SPEED = rospy.get_param('max_speed', 1.0)
+MAX_SPEED = rospy.get_param('max_speed', 2.0) #TODO don't be a murder machine


maybe fix todo maybe?

irapha · 2017-04-27T02:09:37Z

buzzmobile/process/gps_mapper/gps_mapper.py

@@ -134,6 +134,8 @@ def median_filter(fix):
    elif len(g['fixes']) % 2 and len(g['fixes']) > 1:
        return sorted_points[index]
    elif len(g['fixes']) > 1:
+        rospy.loginfo("sorted point: ")
+        rospy.loginfo(sorted_points)


this shouldnt be in PR when its merged

That said, logging might be good.

irapha · 2017-04-27T02:09:49Z

buzzmobile/simulation/models/car/car_joints.urdf

-            <mass value="5.0"/>
-            <inertia ixx="0.10595165" ixy="-0.002487144" ixz="0.011981253" iyy="0.126271962" iyz="0.011832006" izz="0.033185337"/>
+            <mass value="136.0"/>
+            <inertia ixx="39179.495" ixy="-257.203201" ixz="3771.586" iyy="95397.6332" iyz="-20.60398" izz="94045.9387"/>


YAY CORRECT INERTIALS?

yup! thanks to Matt and Wolfram mathworld!

irapha · 2017-04-27T02:10:29Z

buzzmobile/simulation/models/car/car_joints.urdf

@@ -342,15 +356,21 @@
    <joint name="lidar_joint" type="fixed">
        <parent link="chassis"/>
        <child link="laser"/>
-        <origin xyz="0.255 0 0.110" rpy="0 0 0"/>
+        <origin xyz="0.255 0 5" rpy="0 0 0"/>


so all you did here was put the lidar way above the car. can you actually place it where our lidar is IRL?

yeah, its actually the same height as the base axle and about 12 inches from the front of the chassis.

Wait so this is.. correct? Or are you gonna update it?

no its incorrect, that comment is more a note to myself.

Okay. Let me know when you have something I can review again.

irapha · 2017-04-27T02:10:56Z

buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

-constexpr double chassis_length = 0.33246;
-constexpr double chassis_width = 0.28732;
+constexpr double chassis_length = 1.8; 
+constexpr double chassis_width = 1.57;


are these real-world?

yes but i think they have to be converted to imperial, good catch.

uh what why omg are you sure?

Those look reasonable. 1.8 meters long and 1.57 meters wide.

Wait hold on this doesn't at all match https://github.com/gtagency/buzzmobile/blob/master/buzzmobile/constants.yaml#L39 (which also says our wheels are 2.2 meters in circumference, which is wrong)

nope its all metric, had it flipped in my head. it was autoCAD thats all imperial

http://gazebosim.org/tutorials/?tut=ros_urdf#NoteOnUnits

pls no hart atak anymor

@joshuamorton yeah the dims don't match at all and these were the numbers I got from RJ...
In the CAD those are the dimensions of the car, when (if) I get access to the car, I'll check myself which measurements are correct. For now we should merge it in but with a TODO.

I made an issue for this #208

irapha · 2017-04-27T02:11:06Z

buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

 constexpr double inv_chassis_length = 1.0 / chassis_length;
 constexpr double chassis_width_2 = chassis_width / 2.0;
-constexpr double max_torque = 0.1;
+constexpr double max_torque = 2.5; //lololol


lol? no. rip

aka pls fix?

max torque is also just an estimate, but yeah I'll cleanup the comment.

chsahit · 2017-05-09T17:04:01Z

Not sure why builds are failing. According to the circle ci tests
No SHA Files found, caching will not take place
which doesnt mean a lot to me.
According to the simulation tests gazebo is timing out, don't know how to deal with that either.

jgkamat · 2017-05-09T17:05:21Z

The SHA files thing is just a missing config file, it dosen't cause a failure, it just means your builds are slower than they could be (in theory) #156

I think this is the error you want to look at:

�[0m[ INFO] [1493243463.256351398]: waitForService: Service [/gazebo/set_physics_properties] is now available.�[0m
�[0m[ INFO] [1493243463.878368355]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'�[0m
�[0m[ INFO] [1493243463.878766596]: Starting Laser Plugin (ns = /)!�[0m
spawn_model script started
[INFO] [WallTime: 1493243455.707552] Loading model xml from file
[INFO] [WallTime: 1493243455.708049] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1493243463.255404] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1493243463.902857] Spawn status: SpawnModel: Successfully spawned model
�[1m[spawn_model-10] process has finished cleanly
log file: /home/developer/.ros/log/686fa93c-2aca-11e7-98b7-0242ac120002/spawn_model-10*.log�[0m
[spawner-9] killing on exit
[gazebo-8] killing on exit
[buzzmobile/sim_car_interface-7] killing on exit
[buzzmobile/lidar_to_frame-6] killing on exit
[buzzmobile/steering-5] killing on exit
[buzzmobile/frame_merger-4] killing on exit
[buzzmobile/gps_mapper-2] killing on exit
[buzzmobile/bearing-1] killing on exit
----------------------------- Captured stderr call -----------------------------
Traceback (most recent call last):
  File "/home/developer/catkin_ws/src/buzzmobile/buzzmobile/sense/maps_querier/maps_querier.py", line 14, in <module>
    import googlemapskey as gmpskey
ImportError: No module named googlemapskey
�[31m[buzzmobile/maps_querier-3] process has died [pid 35068, exit code 1, cmd /home/developer/catkin_ws/src/buzzmobile/buzzmobile/sense/maps_querier/maps_querier.py __name:=maps_querier __log:=/home/developer/.ros/log/686fa93c-2aca-11e7-98b7-0242ac120002/buzzmobile-maps_querier-3.log].
log file: /home/developer/.ros/log/686fa93c-2aca-11e7-98b7-0242ac120002/buzzmobile-maps_querier-3*.log�[0m
libdc1394 error: Failed to initialize libdc1394
libdc1394 error: Failed to initialize libdc1394
libdc1394 error: Failed to initialize libdc1394
libdc1394 error: Failed to initialize libdc1394
Error opening log file: "/home/developer/.gazebo/gzserver.log"
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

�[1;32mMsg�[0m Waiting for master�[1;32mMsg�[0m Connected to gazebo master @ http://127.0.0.1:11345
�[1;32mMsg�[0m Publicized address: 172.18.0.2
�[1;31mError [RenderEngine.cc:665]�[0m Can't open display: 
�[1;33mWarning [RenderEngine.cc:88]�[0m Unable to create X window. Rendering will be disabled
�[1;33mWarning [ModelDatabase.cc:334]�[0m Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
�[1;31mError [CameraSensor.cc:85]�[0m Unable to create CameraSensor. Rendering is disabled.
[WARN] [WallTime: 1493243474.454752] Controller Spawner couldn't find the expected controller_manager ROS interface.
�[31m[gazebo-8] escalating to SIGTERM�[0m
========================== 1 failed in 42.20 seconds ===========================

From the simulation test.

Seems like a missing dependency, so not too big of a deal

irapha · 2017-05-09T17:31:34Z

As a note, @chsahit when you're looking for what caused a circleci build failure, you can either find the failure through the gh badges (see image)

or through the runtests.sh in circleci. This second one is a little misleading because the "error" technically occurs in the exit.sh, but trust

jgkamat · 2017-05-09T17:33:13Z

(also, you can see the pop up thingy for random commits through clicking on the check/x, or for random branches through the branches menu like this):

irapha · 2017-05-11T02:06:29Z

(and a gh issue)

…

On Wed, May 10, 2017 at 6:53 PM Sahit Chintalapudi ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp <#193 (comment)>: > @@ -35,13 +35,13 @@ double speed_measured_right = 0.0; double steer_set_point = 0.0; // TODO(sahit): change to rosparams -constexpr double chassis_length = 0.33246; -constexpr double chassis_width = 0.28732; +constexpr double chassis_length = 1.8; +constexpr double chassis_width = 1.57; @joshuamorton <https://github.com/joshuamorton> yeah the dims don't match at all and these were the numbers I got from RJ... In the CAD those are the dimensions of the car, when (if) I get access to the car, I'll check myself which measurements are correct. For now we should merge it in but with a TODO. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#193 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AHC0h3BvIwmW7_2yDfMYRYJrJXG6vHXrks5r4modgaJpZM4MPGM6> .

…navsatfix

irapha · 2017-05-11T16:09:17Z

buzzmobile/launch/simulation.launch

@@ -9,6 +9,7 @@
        <include file="$(find buzzmobile)/launch/includes/mapping.launch"/>
        <include file="$(find buzzmobile)/launch/includes/steering.launch"/>
        <include file="$(find buzzmobile)/launch/includes/lidar.launch"/>
+        <node pkg="buzzmobile" name="car_pose_mux" type="car_pose_mux.py"/>


I don't know how much I like this solution.. I'd rather have a redundant controller node started (and not doing anything) than launch nodes directly. Others can pitch in but in either case this change doesn't belong in this PR

irapha · 2017-05-11T16:09:29Z

buzzmobile/constants.yaml

@@ -44,7 +44,7 @@ wheel_separation: 1.3716 # distance between left and right wheels in meters
 max_steering_angle: 0.262 # radians (=15 degrees)

 # Max speed of buzzmobile in m/s
-max_speed: 2 #TODO this is a murder machine
+max_speed: 1 #TODO: measure the max speed.


if TODO -> make gh issue
pls

I can sort the issues, i just want us to track TODOs as issues. It's fine for the "TODO" to exist in code too.

irapha · 2017-05-11T16:11:22Z

buzzmobile/plan/steering/steering.py

@@ -41,7 +41,7 @@
 BRAKING_DISTANCE = rospy.get_param('braking_distance')
 THRESHHOLD = rospy.get_param('braking_score_threshhold')
 BUZZMOBILE_WIDTH = rospy.get_param('buzzmobile_width')
-MAX_SPEED = rospy.get_param('max_speed', 2.0) #TODO don't be a murder machine
+MAX_SPEED = rospy.get_param('max_speed', 1.0) #TODO measure car max speed


why does this get_param call have a second argument? Can you just remove it and have it rely on the real param? This way we don't have to modify max_speed in multiple places when we want to modify it

Yeah, i think the second parameter was there to prevent an exception being thrown if the rosparam server wasn't up or that rosparam wasn't there. But there exists a get_param call that only takes in the first parameter.

Yes. And I think that if rosparam server isn't up, this should throw an exception and error out.

irapha · 2017-05-11T16:11:59Z

buzzmobile/simulation/models/car/car_joints.urdf

@@ -356,7 +356,7 @@
    <joint name="lidar_joint" type="fixed">
        <parent link="chassis"/>
        <child link="laser"/>
-        <origin xyz="0.255 0 5" rpy="0 0 0"/>
+        <origin xyz="2 0 0" rpy="0 0 0"/>


is this the correct location of the lidar?

if not can you make a TODO and an issue to mesure it in the car exactly?

irapha · 2017-05-11T16:12:40Z

buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

@@ -39,7 +39,8 @@ constexpr double chassis_length = 1.8;
 constexpr double chassis_width = 1.57;
 constexpr double inv_chassis_length = 1.0 / chassis_length;
 constexpr double chassis_width_2 = chassis_width / 2.0;
-constexpr double max_torque = 2.5; //lololol
+//TODO(sahit): this can also be calculated/measured when we have the car
+constexpr double max_torque = 2.5; 


make issue too

All the measurement ones can be the same issue. Just be sure to link to each line where these TODOs exist

irapha · 2017-05-11T16:15:16Z

buzzmobile/launch/simulation.launch

@@ -9,7 +9,8 @@
        <include file="$(find buzzmobile)/launch/includes/mapping.launch"/>
        <include file="$(find buzzmobile)/launch/includes/steering.launch"/>
        <include file="$(find buzzmobile)/launch/includes/lidar.launch"/>
-        <include file="$(find buzzmobile)/launch/includes/controller.launch"/>
+        <node pkg="buzzmobile" name="car_pose_mux" type="car_pose_mux.py"/>
+        <!--<include file="$(find buzzmobile)/launch/includes/controller.launch"/>-->


I made a comment but idk why its not showing up. Id rather have a redundant controller node started than be launching nodes in two different ways in this file.

Others can argue otherwise, but in either case, this change doesnt belong in this PR (unless this is required to make sim work). If you feel strongly abt it then make a new PR pls

jk it was showing up

irapha · 2017-05-11T16:18:15Z

buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp


-constexpr double wheel_circumference = 2.0 * M_PI * 0.036;
+constexpr double wheel_circumference = 2.0 * M_PI * 0.3302;


dont forget that all of these should eventually be rosparams (and not constants in this file)

There's an issue out for this #190 so this PR can be merged

joshuamorton · 2017-05-11T20:27:30Z

I was going to add that that seems reasonable, yeah.

…

On Thu, May 11, 2017 at 1:22 PM Raphael Gontijo Lopes < ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In buzzmobile/plan/steering/steering.py <#193 (comment)>: > @@ -41,7 +41,7 @@ BRAKING_DISTANCE = rospy.get_param('braking_distance') THRESHHOLD = rospy.get_param('braking_score_threshhold') BUZZMOBILE_WIDTH = rospy.get_param('buzzmobile_width') -MAX_SPEED = rospy.get_param('max_speed', 2.0) #TODO don't be a murder machine +MAX_SPEED = rospy.get_param('max_speed', 1.0) #TODO measure car max speed Yes. And I think that if rosparam server isn't up, this *should* throw an exception and error out. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#193 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AEz4APrSwt4CQ3R4gaGfUPRlG7zA1iW2ks5r424RgaJpZM4MPGM6> .

…am serv

Hopefully fix build.

joshuamorton · 2017-06-08T04:31:08Z

Pls fix.

Traceback (most recent call last):
  File "/home/developer/catkin_ws/src/buzzmobile/buzzmobile/sense/maps_querier/maps_querier.py", line 14, in <module>
    import googlemapskey as gmpskey
ImportError: No module named googlemapskey

…published by gazebo" This reverts commit 6094942. Conflicts: buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

…am serv

…to navsatfix Conflicts: buzzmobile/launch/simulation.launch

joshuamorton

Go ahead and pull from master to clean up this PR some.

joshuamorton · 2017-06-11T01:43:52Z

buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

@@ -106,8 +106,13 @@ int main(int argc, char **argv) {
    ros::Publisher leftSteeringPublisher = handle.advertise<std_msgs::Float64>("/left_steer_position_controller/command", 1);
    ros::Publisher rightSteeringPublisher = handle.advertise<std_msgs::Float64>("/right_steer_position_controller/command", 1);

+<<<<<<< HEAD


Please fix.

joshuamorton · 2017-06-11T01:44:29Z

buzzmobile/tests/simulation/test_gazebo_connection.py

-            assert(ct.message)
-
+            print(ct.message)
+            time.sleep(30)


Try moving this outside of the with block and see what happens/if you can shorten it.

chsahit · 2017-06-11T16:02:37Z

@joshuamorton I pulled from master and git reports that my branch is already up to date

joshuamorton · 2017-06-11T17:30:52Z

Weird, its giving some really unhelpful diffs that include already merged changes.

chsahit · 2017-06-15T22:13:48Z

So I didn't change anything but I went to the circle CI console and hit build and now we're passing... @joshuamorton @irapha

joshuamorton · 2017-06-15T22:25:53Z

It may be because I pushed to pyros.

…

On Thu, Jun 15, 2017, 3:13 PM Sahit Chintalapudi ***@***.***> wrote: So I didn't change anything but I went to the circle CI console and hit build and now we're passing... @joshuamorton <https://github.com/joshuamorton> @irapha <https://github.com/irapha> — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#193 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AEz4ADritUGO_cHL5wZU4rkViJCOOKOOks5sEaydgaJpZM4MPGM6> .

irapha · 2017-06-17T00:16:10Z

holy guacamoli

irapha · 2017-06-17T00:27:30Z

Feel free to merge. But before you do, please double check this PR's description to make sure it actually closes the issues listed

added all the gps stuffs

67b4925

irapha approved these changes Mar 1, 2017

View reviewed changes

chsahit added 3 commits March 7, 2017 19:45

it renders!

1d0fe77

included imu in navsatfix

26f99b3

the car urdf now has both an imu and a urdf

9f53c67

irapha requested changes Mar 12, 2017

View reviewed changes

chsahit and others added 3 commits March 14, 2017 19:16

Revert "joint states is being subscribed to by sim_car_interface and …

ba410f1

…published by gazebo" This reverts commit 6094942. Conflicts: buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

Merge branch 'buzzmobile_modeling' of https://github.com/gtagency/buz…

07b554a

…zmobile into navsatfix

many changes, makes car move, albeit slowly

ab79aab

irapha mentioned this pull request Mar 28, 2017

Connect gazebo sensors back to bzm #161

Closed

irapha changed the title ~~added all the gps stuffs~~ Add GPS to URDF Mar 28, 2017

chsahit added 5 commits April 4, 2017 19:21

Merge branch 'buzzmobile_modeling' of https://github.com/gtagency/buz…

92242b0

…zmobile into navsatfix Conflicts: buzzmobile/launch/includes/sim_spawn_car.launch buzzmobile/launch/simulation.launch buzzmobile/package.xml

Merge branch 'master' of https://github.com/gtagency/buzzmobile into …

29d080b

…navsatfix Conflicts: buzzmobile/package.xml

Merge branch 'master' of https://github.com/gtagency/buzzmobile into …

9de7079

…navsatfix

updated masses and inertials

47c7ae6

IT WORKS

d31f5d2

chsahit changed the title ~~Add GPS to URDF~~ Update Gazebo with new masses and sensor suite Apr 26, 2017

irapha requested changes Apr 27, 2017

View reviewed changes

chsahit added 2 commits May 11, 2017 11:40

fixed most mistakes requested on the PR

e018005

Merge branch 'master' of https://github.com/gtagency/buzzmobile into …

8f0486f

…navsatfix

irapha requested changes May 11, 2017

View reviewed changes

irapha reviewed May 11, 2017

View reviewed changes

more precise URDF and specified in constants.yaml problem with rospar…

3f9501f

…am serv

Merge pull request #207 from gtagency/fix-build

1ed6df1

Hopefully fix build.

chsahit and others added 14 commits June 10, 2017 18:28

added all the gps stuffs

f69d6bc

it renders!

a641b75

included imu in navsatfix

797e0cd

the car urdf now has both an imu and a urdf

e3dbaad

Revert "joint states is being subscribed to by sim_car_interface and …

b78abc6

…published by gazebo" This reverts commit 6094942. Conflicts: buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp

many changes, makes car move, albeit slowly

63542c8

updated masses and inertials

c01014e

IT WORKS

2d444eb

fixed most mistakes requested on the PR

1f2526a

more precise URDF and specified in constants.yaml problem with rospar…

7dfa79e

…am serv

added better docs in constants.yaml/steering.py and fixed sim.launch

02fe2fc

turns out we don't have to update max_speed in multiple places

14a9ab9

it works now??

3f2d0aa

Merge branch 'navsatfix' of https://github.com/gtagency/buzzmobile in…

424d0df

…to navsatfix Conflicts: buzzmobile/launch/simulation.launch

joshuamorton reviewed Jun 11, 2017

View reviewed changes

chsahit added 2 commits June 11, 2017 12:02

bzm now compiles

9bf0b1f

shrunk the clock down a lot

7c0eba0

added a longer timeout

305e67c

This was referenced Jun 17, 2017

Measure physical features of car #208

Open

Finish URDF file corresponding to actual car #191

Open

chsahit merged commit e84f3c8 into master Jun 17, 2017

joshuamorton deleted the navsatfix branch September 2, 2017 22:25


		constexpr double wheel_circumference = 2.0 * M_PI * 0.036;
		constexpr double wheel_circumference = 2.0 * M_PI * 0.3302;

Update Gazebo with new masses and sensor suite #193

Update Gazebo with new masses and sensor suite #193

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chsahit commented Mar 1, 2017 • edited by irapha Loading

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chsahit commented Apr 26, 2017

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chsahit May 9, 2017 • edited Loading

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irapha May 10, 2017 • edited Loading

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chsahit May 9, 2017 • edited Loading

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chsahit commented May 9, 2017

jgkamat commented May 9, 2017 • edited Loading

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jgkamat commented May 9, 2017

irapha commented May 11, 2017 via email

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joshuamorton commented May 11, 2017 via email

joshuamorton commented Jun 8, 2017

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chsahit commented Jun 11, 2017

joshuamorton commented Jun 11, 2017

chsahit commented Jun 15, 2017

chsahit commented Mar 1, 2017 •

edited by irapha

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chsahit May 9, 2017 •

edited

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irapha May 10, 2017 •

edited

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chsahit May 9, 2017 •

edited

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jgkamat commented May 9, 2017 •

edited

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