Update repose, update parameters

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 12, 2024 · 7ae2294 · 7ae2294
1 parent def8fd2
commit 7ae2294
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos
@@ -14,7 +14,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: 99e0189970293bb0110aad0a3b609bc659ecc663
+    version: b29f41ac00ab1a6fbac3e1d03602575094de277a
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/panther/panther_simulation.repos b/panther/panther_simulation.repos
@@ -14,7 +14,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: 99e0189970293bb0110aad0a3b609bc659ecc663
+    version: b29f41ac00ab1a6fbac3e1d03602575094de277a
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/panther_docking/config/panther_docking_server.yaml b/panther_docking/config/panther_docking_server.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     controller_frequency: 50.0
     initial_perception_timeout: 5.0
-    wait_charge_timeout: 5.0
+    wait_charge_timeout: 10.0
     dock_approach_timeout: 20.0
     undock_linear_tolerance: 0.08
     undock_angular_tolerance: 0.08
@@ -17,12 +17,12 @@
     panther_charging_dock:
       plugin: panther_docking::PantherChargingDock
       external_detection_timeout: 0.1
-      docking_distance_threshold: 0.08
-      docking_yaw_threshold: 0.1
+      docking_distance_threshold: 0.12
+      docking_yaw_threshold: 0.15
       staging_x_offset: -0.5
       filter_coef: 0.1
       use_wibotic: <use_wibotic_param>
-      wibotic_info_timeout: 0.5
+      wibotic_info_timeout: 1.0
 
     docks: ["main"]
     main:
@@ -34,5 +34,5 @@
       k_phi: 1.0
       k_delta: 2.0
       v_linear_min: 0.0
-      v_linear_max: 0.3
+      v_linear_max: 0.1
       v_angular_max: 0.15