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wangzheqie · Apr 23, 2021 · cbcee14 · cbcee14
1 parent 2a3559c
commit cbcee14
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/ranger_base/include/ranger_base/ranger_params.hpp b/ranger_base/include/ranger_base/ranger_params.hpp
@@ -19,9 +19,8 @@ struct RangerParams {
   static constexpr double max_linear_speed = 1.5;      // in m/s
   static constexpr double max_angular_speed = 0.7853;  // in rad/s
   static constexpr double max_speed_cmd = 10.0;        // in rad/s
-  static constexpr double max_steer_angle =
-      0.698;  // in rad,  inner wheel
-  static constexpr double max_steer_angle_central = 0.698;  // max central angle
+  // max central angle: pi/2
+  static constexpr double max_steer_angle_central = 1.5708;
 };
 }  // namespace westonrobot
 #endif  // RANGER_PARAMS_HPP
diff --git a/ranger_base/src/ranger_messenger.cpp b/ranger_base/src/ranger_messenger.cpp
@@ -74,7 +74,7 @@ void RangerROSMessenger::PublishStateToROS() {
       phi = ConvertInnerAngleToCentral(phi_i);
       a_v = state.motion_state.linear_velocity / r;
       x_v = l_v * std::cos(phi);
-      if (l_v >= 0.0001) {
+      if (l_v >= 0.0) {
         y_v = l_v * std::sin(phi);
       } else {
         y_v = l_v * std::sin(-phi);