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Merged
merged 2 commits into from
Jul 7, 2025
Merged

Feat/update gps tutorial #32

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a65b7b3
Gps navigation Tutorial update
stevedanomodolor Jul 4, 2025
b8cf6c9
revert back
stevedanomodolor Jul 7, 2025
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11 changes: 11 additions & 0 deletions nav2_minimal_tb3_sim/urdf/gz_waffle_gps.sdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,8 @@
<navsat>
<position_sensing>
<horizontal>
<!-- Be carefull setting this.
Units in degree not in meters https://github.com/gazebosim/sdformat/issues/1572 -->
<noise type="gaussian">
<mean>0.0</mean>
<stddev>0.0</stddev>
Expand Down Expand Up @@ -496,10 +498,14 @@
<plugin
filename="gz-sim-diff-drive-system"
name="gz::sim::systems::DiffDrive">

<!-- wheel information -->
<left_joint>wheel_left_joint</left_joint>
<right_joint>wheel_right_joint</right_joint>
<wheel_separation>0.287</wheel_separation>
<wheel_radius>0.033</wheel_radius>

<!-- limits -->
<max_linear_acceleration>1</max_linear_acceleration>
<min_linear_acceleration>-1</min_linear_acceleration>
<max_angular_acceleration>2</max_angular_acceleration>
Expand All @@ -508,12 +514,17 @@
<min_linear_velocity>-0.46</min_linear_velocity>
<max_angular_velocity>1.9</max_angular_velocity>
<min_angular_velocity>-1.9</min_angular_velocity>

<!-- input -->
<topic>$(arg namespace)/cmd_vel</topic>

<!-- output -->
<odom_topic>$(arg namespace)/odom</odom_topic>
<tf_topic>$(arg namespace)/tf</tf_topic>
<frame_id>odom</frame_id>
<child_frame_id>base_footprint</child_frame_id>
<odom_publish_frequency>30</odom_publish_frequency>

</plugin>

<plugin
Expand Down
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