Rename stderr params

panther_description/README.md

@@ -38,6 +38,10 @@ Parameter `wheel_config_path` allows using non-standard wheels with Panther robo
 - `mesh_package` - ROS package name to search for custom meshes. Used in evaluation **$(find my_amazing_package)/**.
 - `folder_path` - path used to search for mesh files within the ROS package.
 - `kinematics` - kinematics type. Possible options: `differential`, `mecanum`.
+- `odom_stderr` - standard deviation used to populated odometry message:
+  - `vel_x` - standard deviation for linear velocity in **x** direction.
+  - `vel_y` - standard deviation for linear velocity in **y** direction.
+  - `vel_yaw` - standard deviation for angular velocity alongside **z** axis.
 
 Wheels have to be named as follows:
 - `wheel_collision.stl` - wheel collision mesh.

panther_description/config/WH01.yaml

@@ -7,7 +7,5 @@ mesh_package: panther_description
 folder_path: meshes/WH01
 kinematics: differential
 
-# Value measured (using Husarion research toolkit)
-velocity_x_stderr: 3.2e-3
-velocity_y_stderr: 1.4e-3
-velocity_yaw_stderr: 8.5e-3
+# Values measured experimentally
+odom_stderr: { vel_x: 3.2e-3, vel_y: 1.4e-3, vel_yaw: 8.5e-3 }

panther_description/config/WH02.yaml

@@ -8,6 +8,4 @@ folder_path: meshes/WH02
 kinematics: mecanum
 
 # Selected intuitively based on WH01 results
-velocity_x_stderr: 3.2e-3
-velocity_y_stderr: 3.2e-3
-velocity_yaw_stderr: 8.5e-3
+odom_stderr: { vel_x: 3.2e-3, vel_y: 3.2e-3, vel_yaw: 8.5e-3 }

panther_description/config/WH04.yaml

@@ -8,6 +8,4 @@ folder_path: meshes/WH04
 kinematics: differential
 
 # Selected intuitively based on WH01 results
-velocity_x_stderr: 1.6e-3
-velocity_y_stderr: 7.3e-4
-velocity_yaw_stderr: 4.3e-3
+odom_stderr: { vel_x: 1.6e-3, vel_y: 7.3e-4, vel_yaw: 4.3e-3 }

panther_driver/README.md

@@ -44,6 +44,9 @@ For a `/joint_states` message is carrying given data:
 - `~kinematics` [*string*, default: **differential**]: kinematics type, possible are: differential, mecanum.
 - `~motor_torque_constant` [*float*, default: **2.6149**]: constant used to estimate torque.
 - `~odom_frame` [*string*, default: **odom**]: the name of the odom frame.
+- `~odom_stderr/vel_x` [*float*, default: **3.2e-3**]: standard error used to place in covariance matrix, after squaring, in odometry message.
+- `~odom_stderr/vel_y` [*float*, default: **3.2e-3**]: standard error used to place in covariance matrix, after squaring, in odometry message.
+- `~odom_stderr/vel_yaw` [*float*, default: **8.5e-3**]: standard error used to place in covariance matrix, after squaring, in odometry message.
 - `~publish_joints` [*bool*, default: **true**]: whether to publish robot joints states.
 - `~publish_odometry` [*bool*, default: **true**]: whether to publish robot odometry.
 - `~publish_pose` [*bool*, default: **true**]: whether to publish robot pose.

panther_driver/src/driver_node.py

@@ -76,9 +76,9 @@ def __init__(self, name: str) -> None:
         self._motor_torque_constant = rospy.get_param('~motor_torque_constant', 2.6149)
         self._gear_ratio = rospy.get_param('~gear_ratio', 30.08)
         self._encoder_resolution = rospy.get_param('~encoder_resolution', 400 * 4)
-        self._v_x_var = float(rospy.get_param('~velocity_x_stderr', 3.2e-3))**2
-        self._v_y_var = float(rospy.get_param('~velocity_y_stderr', 3.2e-3))**2
-        self._v_yaw_var = float(rospy.get_param('~velocity_yaw_stderr', 8.5e-3))**2
+        self._v_x_var = float(rospy.get_param('~odom_stderr/vel_x', 3.2e-3))**2
+        self._v_y_var = float(rospy.get_param('~odom_stderr/vel_y', 3.2e-3))**2
+        self._v_yaw_var = float(rospy.get_param('~odom_stderr/vel_yaw', 8.5e-3))**2
 
         self._publish_tf = rospy.get_param('~publish_tf', True)
         self._publish_odom = rospy.get_param('~publish_odometry', True)