Corrected setWheelParams

Signed-off-by: Stefano Mutti <mutti.stefano.jp@gmail.com>
gazebosim · muttistefano · Jan 23, 2024 · Jan 23, 2024 · Jan 23, 2024 · Jan 24, 2024
commit 6c9cec1e5c5fa2ff7c568ff3cc90ee63fb4ee7c1
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -0,0 +1,21 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/rolling/include/**",
+        "/home/stefanomutti/Libs/gz-sim/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE
diff --git a/log/latest b/log/latest
@@ -0,0 +1 @@
+latest_list
diff --git a/log/latest_list b/log/latest_list
@@ -0,0 +1 @@
+list_2024-01-25_09-23-01
diff --git a/log/list_2024-01-25_09-23-01/logger_all.log b/log/list_2024-01-25_09-23-01/logger_all.log
@@ -0,0 +1,22 @@
+[1.123s] DEBUG:colcon:Command line arguments: ['/usr/local/bin/colcon', 'list', '-p', '--base-paths', '/home/stefanomutti/Libs/gz-sim']
+[1.123s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='list', build_base='build', ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['/home/stefanomutti/Libs/gz-sim'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], topological_order=False, names_only=False, paths_only=True, topological_graph=False, topological_graph_dot=False, topological_graph_density=False, topological_graph_legend=False, topological_graph_dot_cluster=False, topological_graph_dot_include_skipped=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7f5752f403a0>, verb_extension=<colcon_package_information.verb.list.ListVerb object at 0x7f5752f17100>, main=<bound method ListVerb.main of <colcon_package_information.verb.list.ListVerb object at 0x7f5752f17100>>, mixin_verb=('list',))
+[1.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[1.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[1.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[1.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[1.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[1.167s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/stefanomutti/Libs/gz-sim'
+[1.167s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extensions ['ignore', 'ignore_ament_install']
+[1.167s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'ignore'
+[1.167s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'ignore_ament_install'
+[1.167s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extensions ['colcon_pkg']
+[1.167s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'colcon_pkg'
+[1.167s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extensions ['colcon_meta']
+[1.168s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'colcon_meta'
+[1.168s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extensions ['ros']
+[1.168s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'ros'
+[1.185s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extensions ['cmake', 'python']
+[1.185s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'cmake'
+[1.511s] Level 1:colcon.colcon_core.package_identification:_identify(/home/stefanomutti/Libs/gz-sim) by extension 'python'
+[1.511s] DEBUG:colcon.colcon_core.package_identification:Package '/home/stefanomutti/Libs/gz-sim' with type 'cmake' and name 'gz-sim8'
+[1.511s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
@@ -287,7 +287,7 @@ void MecanumDrive::Configure(const Entity &_entity,
 
   // Setup odometry.
   this->dataPtr->odom.SetWheelParams(this->dataPtr->wheelSeparation,
-      this->dataPtr->wheelRadius, this->dataPtr->wheelRadius, this->dataPtr->wheelRadius);
+      this->dataPtr->wheelbase, this->dataPtr->wheelRadius, this->dataPtr->wheelRadius);
 
   // Subscribe to commands
   std::vector<std::string> topics;