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Tune parameters for go #671

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Merged
jaagut merged 4 commits into from
Mar 13, 2025
Merged

Tune parameters for go #671

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e61e229
Fix CI
ayin21 Mar 13, 2025
505814a
Merge branch 'main' into tune-parameters-for-GO
ayin21 Mar 13, 2025
5c4668d
Increase dynup walk wait timeout
ayin21 Mar 13, 2025
bf730f7
extrinsic calibration jack
ayin21 Mar 13, 2025
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4 changes: 2 additions & 2 deletions bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,6 @@

/bitbots_extrinsic_imu_calibration:
ros__parameters:
offset_x: 0.06
offset_y: -0.0
offset_x: 0.04
offset_y: 0.01
offset_z: 0.0
2 changes: 1 addition & 1 deletion bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
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Expand Up @@ -665,7 +665,7 @@ void DynupEngine::setGoals(const DynupRequest &goals) {
// Get params and wait for walking to be ready
walking_params = walking_param_client_->get_parameters(
{"engine.trunk_pitch", "engine.trunk_height", "engine.foot_distance", "engine.trunk_x_offset"},
std::chrono::seconds(1));
std::chrono::seconds(5));

// when the walking was killed, service_is_ready is still true but the parameters come back empty
if (walking_params.size() != 4) {
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8 changes: 4 additions & 4 deletions bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
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Expand Up @@ -2,17 +2,17 @@
# name: test_default_setup
dict({
'carrot_distance': 1,
'max_rotation_vel': 0.6,
'max_rotation_vel': 0.4,
'max_vel_x': 0.12,
'max_vel_y': 0.07,
'min_vel_x': -0.06,
'orient_to_goal_distance': 0.4,
'orient_to_goal_distance': 0.5,
'rotation_i_factor': 0.0,
'rotation_slow_down_factor': 0.6,
'smoothing_tau': 0.1,
'translation_slow_down_factor': 1.0,
'translation_slow_down_factor': 0.6,
})
# ---
# name: test_step_cmd_vel_smoothing
'geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.06466145812714323, y=0.04175428591906269, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.38625623273352266))'
'geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.06466145812714323, y=0.04175428591906269, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.3591891760862001))'
# ---
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