Hamster Steering Calibration

Hamster Steering calibration instruction

• on your desktop

1 export ROS_IP=10.0.2.<your desktop IP>
2 export ROS_MASTER_URI=http://10.0.2.<HamsterID>:11311

• ssh to the hamster pi@10.0.2.<HamsterID>
• password is hamster

1 cd hamster_ws/src/hamster/hamster_launch/launch/
2 pico platform.launch

• In hamster_driver node change

1 steer_offset=0

• -deg will compensate and the robot will turn stronger to the right
• +deg will compensate and the robot will turn stronger to the left

• Test with slow speed

1 rostopic pub /agent<AgentID>/ackermann_cmd ackermann_msgs/AckermannDriveStamped "header:
2   seq: 0
3   stamp:
4     secs: 0
5     nsecs: 0
6   frame_id: ''
7 drive: {steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 0.01, acceleration: 0.0,
8   jerk: 0.0}" -r 10