From d92b24d6eb3acc301f4f384fc40263f0444ed553 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 5 Sep 2013 18:32:43 +0200
Subject: [PATCH] updated values

---
 README                        | 2 ++
 explorer_configuration.launch | 8 ++++----
 scripts/robo_explorer.py      | 8 ++++----
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/README b/README
index 8e6dd95..c5ea435 100644
--- a/README
+++ b/README
@@ -46,3 +46,5 @@ Commands:
 # rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.0]'
  Turn:
 # rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.4]'
+-Keyboard Control:
+# rosrun pr2_teleop teleop_pr2_keyboard
diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index 5aadc57..edfdc1c 100644
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -5,9 +5,9 @@
 	<node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
 		<!-- fake laser scan with ultra sonic range finder -->
 		<param name="ultrasonic_laser" value="True" />
-		<!-- Distance between both wheels in meter (18.8cm) -->
-		<param name="wheel_dist" value="0.188" />
-		<!-- Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm -->
-		<param name="wheel_size" value="0.0255" />
+		<!-- Distance between both wheels in meter (18.55cm) -->
+		<param name="wheel_dist" value="0.1855" />
+		<!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
+		<param name="wheel_size" value="0.02575" />
 	</node>
 </launch>
diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index f39c9c4..24584e7 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -29,10 +29,10 @@ class RoboExplorer:
 
 		# fake laser scan with ultra sonic range finder
 		self.enable_ultrasonic_laser = bool(rospy.get_param('~ultrasonic_laser', "True"))
-		# Distance between both wheels in meter (18.8cm)
-		self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.188"))
-		# Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm 
-		self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255"))
+		# Distance between both wheels in meter (18.55cm)
+		self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.1855"))
+		# Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm 
+		self.wheel_size = float(rospy.get_param('~wheel_size', "0.02575"))
 		# Speed to PWM equation gradiant (The m in pwm = speed*m+b)
 		self.speed_gradiant = float(rospy.get_param('~speed_gradiant', "64.3"))
 		# Speed to PWM equation constant (The b in pwm = speed*m+b)
-- 
2.39.5