Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Turtlebot3 package - ROS2 [closed]

ros2

asked 2023-01-18 03:23:42 -0500

n000oob
15 ●2 ●4 ●8

I want to enlarge my wheel using the physical turtlebot3. I'm learning how robotis made the package by looking at the code, anyone know where is the value 0.087890625[deg] derived or get from? is it the Goal Position?

// 0.087890625[deg] * 3.14159265359 / 180 = 0.001533981f

you can see this in the joint state or odometry.cpp file in opencr code

Thanks ROScommunity in advance.

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by n000oob
close date 2023-05-01 23:31:29.103357

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2023-01-19 19:00:33 -0500

ljaniec

3064 ●14 ●297 ●50 https://www.linkedin.c...

updated 2023-01-19 19:02:42 -0500

Googling this specific value 0.087890625 I got this Arduino forum post - it looks like it is connected to the step motor and its number of steps per revolution.

One of the answers from the link:

64 steps per revolution (5.625° steps) and 1:64 gearing gives 4096 steps per output shaft revolution (0.087890625° steps).

P.S. Be a bit careful with enlarging the wheel radius - calculate how much you can enlarge it before the motor gives up.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2023-01-18 03:23:42 -0500

Seen: 160 times

Last updated: Jan 19 '23

Turtlebot3 package - ROS2 [closed] edit

Closed for the following reason the question is answered, right answer was accepted by n000oob close date 2023-05-01 23:31:29.103357

1 Answer

Question Tools

Stats

Related questions

Turtlebot3 package - ROS2 [closed]

Closed for the following reason the question is answered, right answer was accepted by n000oob
close date 2023-05-01 23:31:29.103357