X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcontrol.yaml;h=97d83a5cad37dad892687d982837a58958c864a7;hp=648218d00ef5aabb1c550200fd049e24faa909f2;hb=6925d3469d5f22b6271ece74540c0a30a51942db;hpb=90c915738a5c052a4330840a8d50a2590a30ab7a

diff --git a/config/control.yaml b/config/control.yaml
index 648218d..97d83a5 100644
--- a/config/control.yaml
+++ b/config/control.yaml
@@ -22,8 +22,8 @@ diff_drive_controller:
   estimate_velocity_from_position: false
 
   # Wheel separation and radius multipliers
-  wheel_separation_multiplier: 1.0 # default: 1.0
-  wheel_radius_multiplier    : 1.0 # default: 1.0
+  wheel_separation_multiplier: 1.4696 # default: 1.0
+  wheel_radius_multiplier    : 0.98346 # default: 1.0
 
   # Velocity and acceleration limits
   # Whenever a min_* is unspecified, default to -max_*