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fix: add gear ratio to JointState

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David
2025-10-14 11:47:23 -05:00
parent 366f1e0c58
commit 86d01c29e3
1 changed files with 3 additions and 3 deletions
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6
src/core_pkg/core_pkg/core_node.py
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@@ -28,7 +28,7 @@ thread = None
CORE_WHEELBASE = 0.836 # meters CORE_WHEELBASE = 0.836 # meters
CORE_WHEEL_RADIUS = 0.171 # meters CORE_WHEEL_RADIUS = 0.171 # meters
CORE_GEAR_RATIO = 100 # Clucky: 100:1, Testbed: 64:1 CORE_GEAR_RATIO = 100.0 # Clucky: 100:1, Testbed: 64:1
control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
history=qos.QoSHistoryPolicy.KEEP_LAST, history=qos.QoSHistoryPolicy.KEEP_LAST,
@@ -436,8 +436,8 @@ class SerialRelay(Node):
position = float(msg.data[1]) position = float(msg.data[1])
velocity = float(msg.data[2]) velocity = float(msg.data[2])
joint_state_msg = JointState() # TODO: not sure if all motors should be in each message or not joint_state_msg = JointState() # TODO: not sure if all motors should be in each message or not
joint_state_msg.position = [position * (2 * pi)] # revolutions to radians joint_state_msg.position = [position * (2 * pi) / CORE_GEAR_RATIO] # revolutions to radians
joint_state_msg.velocity = [velocity * (2 * pi / 60.0)] # RPM to rad/s joint_state_msg.velocity = [velocity * (2 * pi / 60.0) / CORE_GEAR_RATIO] # RPM to rad/s
if motorId == 1: if motorId == 1:
self.feedback_new_state.fl_motor.position = position self.feedback_new_state.fl_motor.position = position
self.feedback_new_state.fl_motor.velocity = velocity self.feedback_new_state.fl_motor.velocity = velocity