Pid config

phoenix_description/urdf/phoenix.urdf

@@ -393,6 +393,25 @@
         <child link="vectornav"/>
     </joint>
 
+    <!-- Dummy link to match the GPS frame_id -->
+    <link name="imu_link">
+        <visual>
+            <geometry>
+                <box size="0.001 0.001 0.001"/>
+            </geometry>
+        </visual>
+        <inertial>
+            <mass value="0.001"/>
+            <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+        </inertial>
+    </link>
+
+    <joint name="imu_link_to_vectornav" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <parent link="vectornav"/>
+        <child link="imu_link"/>
+    </joint>
+
 <!-- Gazebo Plugins -->
 
   <gazebo>

phoenix_gazebo/launch/include/robot_localization/robot_localization.launch.py

@@ -31,12 +31,8 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-<<<<<<< HEAD
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 
-=======
-from launch.substitutions import PathJoinSubstitution
->>>>>>> 81e19a3 (Fixed: PathJoinSubstitution updated teleop_ack_Rc included in gazeebo and robot)
 
 def generate_launch_description():
     pkg_share = get_package_share_directory('phoenix_robot')

phoenix_robot/config/navsat_transform/navsat_transform/navsat_transform.yaml

@@ -23,11 +23,11 @@ navsat_transform_node:
         zero_altitude: false
 
 # If this is true, the transform world_frame->utm transform is broadcast for use by other nodes. Defaults to false.
-        broadcast_utm_transform: false
+        broadcast_utm_transform: true
 
 # If this is true, the utm->world_frame transform will be published instead of the world_frame->utm transform. 
 # Note that broadcast_utm_transform still has to be enabled. Defaults to false.
-        broadcast_utm_transform_as_parent_frame: false
+        broadcast_utm_transform_as_parent_frame: true
 
 # If this is true, all received odometry data is converted back to a lat/lon and published as a NavSatFix message as
 # /gps/filtered. Defaults to false.
@@ -37,7 +37,7 @@ navsat_transform_node:
 # /odometry/filtered topic coming from one of robot_localization's state estimation nodes). BE CAREFUL when using this!
 # The yaw value in your odometry source *must* be world-referenced, e.g., you cannot use your odometry source for yaw
 # if your yaw data is based purely on integrated velocities. Defaults to false.
-        use_odometry_yaw: false
+        use_odometry_yaw: true
 
 # If true, will retrieve the datum from the 'datum' parameter below, if available. If no 'datum' parameter exists,
 # navsat_transform_node will wait until the user calls the 'datum' service with the SetDatum service message.
@@ -47,5 +47,6 @@ navsat_transform_node:
 # origin (datum) using this parameter. The fields in the parameter represent latitude and longitude in decimal degrees,
 # and heading in radians. As navsat_transform_node assumes an ENU standard, a 0 heading corresponds to east.
 # wait this might actually be usefully for translating over maps lol -AFB
+# NOTE WE 
         datum: [55.944904, -3.186693, 0.0]
 

phoenix_robot/config/phnx_io_ros/phnx_io_ros.yaml

@@ -0,0 +1,5 @@
+/phnx_io_ros:
+  ros__parameters:
+    kP: 1.0
+    kI: 1.0
+    kD: 0.1

phoenix_robot/config/robot_localization/robot_localization_dual_ekf.yaml

@@ -23,9 +23,9 @@ ekf_filter_node_odom:
                   # vr vp vy
                   # ax ay az
 
-    imu0: /phoenix/gps/imu #
+    imu0: /phoenix/imu
     imu0_config: [false, false, false, 
-                true, true, true, 
+                false, false, false, 
                 false, false, false, 
                 true, true, true, 
                 true, true, true] 
@@ -66,4 +66,4 @@ ekf_filter_node_map:
                    false, false, false, 
                    false, false, false, 
                    false, false, false]
-    odom1_differential: false
+    odom1_differential: false

phoenix_robot/config/robot_localization/robot_localization_encoder_only.yaml

@@ -1,4 +1,7 @@
 ### ekf config file ###
+
+###   THIS IS LAST YEARS EKF CONFIG LEAVE AS IS   ###
+
 ekf_filter_node:
   ros__parameters:
     # The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin