[humble] HunterSEParams is defined but never used — hunter_se model uses HunterV1Params instead

[gakutasu]

Description

The commit 3255b93 (add hunterSE) adds HunterSEParams to hunter_params.hpp, but it is never referenced in hunter_base_ros.cpp.

In Run(), when robot_model_ is "hunter_se", HunterV1Params is used instead:

if(robot_model_=="hunter_se")
{
  messenger->SetTrack(HunterV1Params::track);        // should be HunterSEParams
  messenger->SetWeelbase(HunterV1Params::wheelbase); // should be HunterSEParams
  messenger->SetMaxSteerAngleCentral(HunterV1Params::max_steer_angle_central);
  messenger->SetMaxSteerAngle(HunterV1Params::max_steer_angle);
}

As a result, running with robot_model:=hunter_se applies Hunter V1 dimensions, making odometry incorrect for Hunter SE.

Fix

Replace HunterV1Params with HunterSEParams in the hunter_se branch of Run().

Environment

• Branch: humble
• Commit: 3255b93
• File: hunter_base/src/hunter_base_ros.cpp