X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fwt_node.cfg;h=725c56519a73e35f89b248f0e0fa1ce020594eb2;hp=dbd9c1b285ef9922372e9f0ae2ab75624e8d5e6e;hb=dfa22bff12a5c6e0685b3e79e681ccc1d0bd1fa1;hpb=d44edcac9dd285abbd1a6b2f9f82b6d15be00ff6

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index dbd9c1b..725c565 100755
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -5,11 +5,11 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("range_sensor_clip",	bool_t,		0, "Clip range sensor values to max range", True)
-gen.add("range_sensor_max",	double_t,	0, "Range sensor max range", 0.5, 0.4, 4)
+gen.add("range_sensor_max",	double_t,	0, "Range sensor max range", 0.5, 0.04, 4)
 gen.add("odom_covar_xy",	double_t,	0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
-gen.add("odom_covar_angle",	double_t,	0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
-gen.add("pitch_handicap_enable",bool_t,		0, "Enable motor handicap on pitch", True)
-gen.add("pitch_handicap_limit",	double_t,	0, "Pitch handicap limit (degree)", 30, 0, 90)
-gen.add("pitch_handicap_strength",double_t,	0, "Pitch handicap limit strength", 60, 0, 100)
+gen.add("odom_covar_angle",	double_t,	0, "Odometry covariance: rotation", 1.00, 1e-6, 6.2832)
+gen.add("rollover_protect",	bool_t,		0, "Enable motor rollover protection on pitch", True)
+gen.add("rollover_protect_limit",double_t,	0, "Pitch rollover protection limit (degree)", 45, 0, 90)
+gen.add("rollover_protect_pwm",	double_t,	0, "Pitch rollover protection speed (pwm)", 255, 0, 255)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))