Discrepancy between documentation and configuration

[SteveMacenski]

The Jackal's documentation [2] states that the wheels are 190mm in diameter (0.095m radius), yet the ROS control config is set as 0.098 [1] which results in notably worse odometric performance. Changing this back to 0.095 is a big improvement in my odometry quality.

[1] https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_control/config/j100/control.yaml#L18
[2] https://docs.clearpathrobotics.com/docs/robots/outdoor_robots/jackal/user_manual_jackal/

[tonybaltovski]

@SteveMacenski the wheel diameter should be 194mm according to the product specs [1] which would be a wheel radius of 0.097mm. Can you make sure the tire is inflated to the correct pressure of 30 PSI?

[1] https://www.mbs.com/parts/13111-mbs-t1-tire-8-black-1