Wheel Calibration

Wheel Calibration === Hey Bunny! Let's GO strait. #### TODO * wheel calibration ### Wheel Calibration **Set trim and gain** ##### ssh to your pi ``` bunnybot: $ roslaunch duckietown_demos joystick.launch veh:=alphaduck ``` this run up joystick node, enable you to control bunnybot via joystick. Now it is time for using *rosservice* which can let you dynamically set parameter while the node still running! ##### ssh open other terminal in pi (do not use byobu) ``` bunnybot: $ rosservice call /alphaduck/inverse_kinematics_node/set_trim --0.01 ``` Changing the trim to positive value 0.01 Likewisely, you can set the trim to negative value -0.01 ``` bunnybot: $ rosservice call /alphaduck/inverse_kinematics_node/set_trim -- -0.01 ``` Keep tunning these value and observe whether your bunny go strait. If want to speed up your bunny, set the gain value. ``` bunnybot: $ rosservice call /alphaduck/inverse_kinematics_node/set_gain -- 1.1 ``` *Warning*! If you set gain too high(>5) it will saturated then the wheels won't get calibrate. After you have done everything, save the parameter file. ``` bunnybot: $ rosservice call /alphaduck/inverse_kinematics_node/save_calibration ``` If this is the first time you do wheel calibration, it will generate alphaduck.yaml in bunnybot location: ``` ~/duckietown/catkin_ws/src/duckietown/config/baseline/calibration/kinematics ``` *p.s. you can find all configuration files in ~/duckietown/config/...* **Now Bunny GO straight! GOOD JOB!!!** ###### tags: `duckietown-bunny`