Set wheel odometry rate to 30 Hz

Author: Emiliano Borghi

ca_description/urdf/create_base_gazebo.xacro

@@ -2,22 +2,18 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sim_create_base">
 
-    <xacro:property name="diffdrive_update_rate" value="40"/>
-    <xacro:property name="wheel_torque" value="0.5"/>
-    <xacro:property name="wheel_accel" value="0.5"/>
-
     <gazebo>
       <!-- Diff-drive controller -->
       <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
         <alwaysOn>true</alwaysOn>
         <rosDebugLevel>na</rosDebugLevel>
-        <updateRate>${diffdrive_update_rate}</updateRate>
+        <updateRate>30</updateRate>
         <leftJoint>wheel_left_joint</leftJoint>
         <rightJoint>wheel_right_joint</rightJoint>
         <wheelSeparation>${wheel_separation}</wheelSeparation>
         <wheelDiameter>${wheel_radius * 2}</wheelDiameter>
-        <wheelTorque>${wheel_torque}</wheelTorque>
-        <wheelAcceleration>${wheel_accel}</wheelAcceleration>
+        <wheelTorque>0.5</wheelTorque>
+        <wheelAcceleration>0.5</wheelAcceleration>
         <commandTopic>cmd_vel</commandTopic>
         <odometryTopic>odom</odometryTopic>
         <odometryFrame>odom</odometryFrame>

ca_driver/config/default.yaml

@@ -1,8 +1,11 @@
+# Robot model
+robot_model: "CREATE_2"
+
 # The device path for the robot
 dev: "/dev/ttyUSB0"
 
 # Baud rate. Passing this parameter overwrites the inferred value based on the robot_model
-# baud: 115200
+baud: 115200
 
 # Base frame ID
 base_frame: "base_footprint"
@@ -14,7 +17,7 @@ odom_frame: "odom"
 latch_cmd_duration: 0.2
 
 # Internal loop update rate (Hz)
-loop_hz: 10.0
+loop_hz: 30.0
 
 # Whether to publish the transform between odom_frame and base_frame
 publish_tf: true

ca_driver/launch/create_2.launch

@@ -4,19 +4,13 @@
   <arg name="ns"        value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1"/>
   <arg name="tf_prefix" value="$(arg ns)_tf"          doc="Tf prefix"/>
 
-  <arg name="config" default="$(find ca_driver)/config/default.yaml"
-                     doc="Absolute path to a configuration file (YAML)"/>
-
   <node name="ca_driver" pkg="ca_driver" type="ca_driver" output="screen">
-    <rosparam command="load" file="$(arg config)" />
-
-    <param name="namespace"   value="$(arg ns)"/>
-    <param name="robot_model" value="CREATE_2" />
-    <param name="tf_prefix"   value="$(arg tf_prefix)"/>
+    <rosparam command="load" file="$(find ca_driver)/config/default.yaml"/>
+    <param name="namespace" value="$(arg ns)"/>
   </node>
 
   <!-- Robot description -->
   <include ns="$(arg ns)" file="$(find ca_description)/launch/create_description.launch">
-    <arg name="robot_id"  value="$(arg robot_id)"/>
+    <arg name="robot_id" value="$(arg robot_id)"/>
   </include>
 </launch>

ca_driver/src/create_driver.cpp

@@ -52,9 +52,10 @@ CreateDriver::CreateDriver(ros::NodeHandle& nh, ros::NodeHandle& ph)
   priv_nh_.param<std::string>("robot_model", robot_model_name, "CREATE_2");
   priv_nh_.param<double>("latch_cmd_duration", latch_duration_, 0.2);
   priv_nh_.param<bool>("publish_tf", publish_tf_, true);
-  priv_nh_.param<std::string>("tf_prefix", tf_prefix_, "create_tf");
   priv_nh_.param<std::string>("namespace", topic_ns, "create");
 
+  nh_.param<std::string>("tf_prefix", tf_prefix_, "create_tf");
+
   if (robot_model_name == "ROOMBA_400")
   {
     model_ = create::RobotModel::ROOMBA_400;

ca_gazebo/test/params/hz.yaml

@@ -48,13 +48,13 @@ imu_data:
 
 joint_states:
   topic: "/create1/joint_states"
-  hz: 40.0
+  hz: 30.0
   hzerror: 1.0
   test_duration: 5.0
 
 odom:
   topic: "/create1/odom"
-  hz: 40.0
+  hz: 30.0
   hzerror: 1.0
   test_duration: 5.0
 

ca_node/launch/create_2.launch

@@ -4,19 +4,15 @@
   <arg name="ns"        value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1"/>
   <arg name="tf_prefix" value="$(arg ns)_tf"          doc="Tf prefix"/>
 
-  <arg name="config" default="$(find ca_driver)/config/default.yaml"
-                     doc="Absolute path to a configuration file (YAML)"/>
+  <param name="tf_prefix" value="$(arg tf_prefix)"/>
 
   <node name="ca_driver" pkg="ca_driver" type="ca_driver" output="screen" required="true">
-    <rosparam command="load" file="$(arg config)" />
-
-    <param name="namespace"   value="$(arg ns)"/>
-    <param name="robot_model" value="CREATE_2" />
-    <param name="tf_prefix"   value="$(arg tf_prefix)"/>
+    <rosparam command="load" file="$(find ca_driver)/config/default.yaml"/>
+    <param name="namespace" value="$(arg ns)"/>
   </node>
 
   <!-- Robot description -->
   <include ns="$(arg ns)" file="$(find ca_description)/launch/create_description.launch">
-    <arg name="robot_id"  value="$(arg robot_id)"/>
+    <arg name="robot_id" value="$(arg robot_id)"/>
   </include>
 </launch>