(I set this meeting to full screen mode.)
Al and Jeff had a discussion before the recording started. We equated forward velocity, rotational velocity, wheel base, minimum turning radius and steering angle. And talked about steps to make it work.
Chat:
This is the code that converts rotational velocity to steer angle.
It won’t let me post the code.
Go here: https://github.com/rst-tu-dortmund/teb_local_planner/blob/0d242c0aff4f81b4ff5d67d7e4f970a8f454ad4a/src/teb_local_planner_ros.cpp
And search for: convertTransRotVelToSteeringAngle
Index:
00:00 Jeff: Summarizes the discussion we had before the recording started.
03:20 Al: Asks for clarification about how the modified cmd_vel message is interpreted. Actual scaling.
12:10 Al: Says he thought he had to know the recovered rotational velocity.
Talk about verifying requested angle to actual path driven.
15:20 Does the joystick need to be rescaled?
17:40 Al: Talks about his second IMU.
20:00 Al: Is going to add his second rear wheel speed sensor on the right side.
21:20 Jeff: Give update. Reiterates the story of the intermittent eStop switch.
23:45 Jeff: Goes through his whole “run-away robot” story and maybe some fixes.
27:45 Jeff: Mentions a second generation remote control system to come.
28:35 Jeff: Talks about blowing fuses on the main motor and adding current monitoring.
36:25 Jeff: Talks about scaling the new current sensors.
37:20 Jeff: Talks about maintaining the new YouTube videos.
38:10 Al: Expresses optimism after we talked about steering angles.
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