Adjust wheel_separation_multiplier

[KmakD]

Description

• Adjust wheel_separation_multiplier for better odometry

Requirements

• Code style guidelines followed
• Documentation updated

Tests 🧪

• Robot
• Container
• Simulation

Summary by CodeRabbit

• Configuration Update
  • Adjusted wheel separation multiplier from 1.5 to 1.37 to improve robot movement precision

[coderabbitai]

Walkthrough

The pull request modifies the WH05_controller.yaml configuration file, specifically adjusting the wheel_separation_multiplier parameter in the drive_controller section from 1.5 to 1.37. This change appears to fine-tune the kinematic model's parameters for the robot's movement, potentially improving the accuracy of wheel separation calculations in the drive controller configuration.

Changes

File	Change Summary
husarion_ugv_controller/config/WH05_controller.yaml	Updated wheel_separation_multiplier from 1.5 to 1.37 in drive_controller section

Possibly related PRs

• Change behaviour of motor_power_enable to e_stop_torque_enable #479: Modification of service name from motor_power_enable to motor_torque_enable, indicating a shift in control functionality similar to configuration adjustments

Suggested reviewers

• rafal-gorecki

---

Thank you for using CodeRabbit. We offer it for free to the OSS community and would appreciate your support in helping us grow. If you find it useful, would you consider giving us a shout-out on your favorite social media?

❤️ Share

• X
• Mastodon
• Reddit
• LinkedIn

🪧 Tips

Chat

There are 3 ways to chat with CodeRabbit:

• Review comments: Directly reply to a review comment made by CodeRabbit. Example:
  • I pushed a fix in commit <commit_id>, please review it.
  • Generate unit testing code for this file.
  • Open a follow-up GitHub issue for this discussion.
• Files and specific lines of code (under the "Files changed" tab): Tag @coderabbitai in a new review comment at the desired location with your query. Examples:
  • @coderabbitai generate unit testing code for this file.
  • @coderabbitai modularize this function.
• PR comments: Tag @coderabbitai in a new PR comment to ask questions about the PR branch. For the best results, please provide a very specific query, as very limited context is provided in this mode. Examples:
  • @coderabbitai gather interesting stats about this repository and render them as a table. Additionally, render a pie chart showing the language distribution in the codebase.
  • @coderabbitai read src/utils.ts and generate unit testing code.
  • @coderabbitai read the files in the src/scheduler package and generate a class diagram using mermaid and a README in the markdown format.
  • @coderabbitai help me debug CodeRabbit configuration file.

Note: Be mindful of the bot's finite context window. It's strongly recommended to break down tasks such as reading entire modules into smaller chunks. For a focused discussion, use review comments to chat about specific files and their changes, instead of using the PR comments.

CodeRabbit Commands (Invoked using PR comments)

• @coderabbitai pause to pause the reviews on a PR.
• @coderabbitai resume to resume the paused reviews.
• @coderabbitai review to trigger an incremental review. This is useful when automatic reviews are disabled for the repository.
• @coderabbitai full review to do a full review from scratch and review all the files again.
• @coderabbitai summary to regenerate the summary of the PR.
• @coderabbitai generate docstrings to generate docstrings for this PR. (Beta)
• @coderabbitai resolve resolve all the CodeRabbit review comments.
• @coderabbitai configuration to show the current CodeRabbit configuration for the repository.
• @coderabbitai help to get help.

Other keywords and placeholders

• Add @coderabbitai ignore anywhere in the PR description to prevent this PR from being reviewed.
• Add @coderabbitai summary to generate the high-level summary at a specific location in the PR description.
• Add @coderabbitai anywhere in the PR title to generate the title automatically.

Documentation and Community

• Visit our Documentation for detailed information on how to use CodeRabbit.
• Join our Discord Community to get help, request features, and share feedback.
• Follow us on X/Twitter for updates and announcements.

[coderabbitai]

Actionable comments posted: 0

🧹 Nitpick comments (1)

husarion_ugv_controller/config/WH05_controller.yaml (1)

Line range hint 28-52: Consider velocity-based odometry configuration as a whole.

The adjusted wheel_separation_multiplier works in conjunction with:

• Disabled position feedback (velocity-based odometry)
• Minimal velocity filtering (window size: 1)
• Fixed wheel separation (0.45m)

This configuration prioritizes real-time response. Please verify that the new multiplier value maintains stable performance with this setup.

📜 Review details

Configuration used: .coderabbit.yaml
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 7b410b0 and 2087ce7.

📒 Files selected for processing (1)

• husarion_ugv_controller/config/WH05_controller.yaml (1 hunks)

🔇 Additional comments (1)

husarion_ugv_controller/config/WH05_controller.yaml (1)

37-37: Document the rationale for the new multiplier value.

The change from 1.5 to 1.37 looks reasonable, but please document:

• How this value was determined
• Which ground types were tested
• Expected improvement in odometry accuracy

Since this parameter affects the robot's kinematic model, please ensure:

1. Testing has been performed on different surface types
2. Odometry accuracy has been validated through actual measurements
3. Navigation stack performance remains stable with this change