Parameter file location: Remote Controller Parameter file

• require_enable_button (bool, default: true)

  • Whether to require the enable button for enabling movement.

• enable_button (int, default: 0)

  • Joystick button to enable regular-speed movement.

• axis_linear.<axis>

  • Joystick axis to use for linear movement control.
    • axis_linear.x (int, default: 5)
      • For B.ob, this is the "RT" button, which is number 4, used for forward movement.

• scale_linear.<axis>

  • Scale to apply to the joystick linear axis for regular-speed movement.
    • scale_linear.x (double, default: 0.5)

• axis_linear_reverse.<axis>

  • Joystick axis to use for linear movement control for backward movement.
    • axis_linear_reverse.x
      • For B.ob, this is the "LT" button, which is number 5, used for backward movement.

• scale_linear_reverse.<axis>

  • Scale to apply to the joystick linear axis for regular-speed backward movement.
    • scale_linear_reverse.x (double, default: 0.5)

• axis_angular.<axis>

  • Joystick axis to use for angular movement control.
    • axis_angular.yaw (int, default: 2)
      • For B.ob, this is the "LSB" left joystick, which is number 0.

• scale_angular.<axis>

  • Scale to apply to the joystick angular axis.
    • scale_angular.yaw (double, default: 0.5)

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Parameter file location: Ros2 Controllers Parameter file

Ros2 Differential Drive Controller parameters

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Seeing that Bob has a pole attached to him, the scans which hit the pole needs to be filtered out. These parameters allow you to select which angles to filter out.

Parameter file location: Lidar Parameter file

• min_angle

  • minimum angle in degrees for the scan to exist.

• max_angle

  • maximum angle in degrees for the scan to exist

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Parameter file location: PID Parameter file

• Kp

  • Proportional gain constant.

• Ki

  • Integral gain constant.

• Kd

  • Differential gain constant.

• min_output

  • minimum output limiter.

• max_output

  • maximum output limiter.

• min_sum

  • minimum integral sum.

• max_sum

  • maximum integral sum.

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Parameter file location: EKF Localisation Parameter file

EKF Localisation Parameters

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Parameter file location: SLAM Parameter file

SLAM Parameters

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TBD Parameter file location: AMCL Parameter file

AMCL Parameters