wip

Author: nathantsoi

CMakeLists.txt

@@ -199,17 +199,10 @@ install(TARGETS
   websocket
   DESTINATION lib/${PROJECT_NAME})
 
-# Copy simulator configs
-install(DIRECTORY
-  config
-  DESTINATION share/${PROJECT_NAME}
-  OPTIONAL)
-
 # ROS 2 package finalization
 # Install launch files, config files, scripts, etc.
 install(DIRECTORY
   launch
-  config
   DESTINATION share/${PROJECT_NAME}
   OPTIONAL)
 
@@ -222,25 +215,5 @@ install(DIRECTORY
 
 ament_export_dependencies(rosidl_default_runtime)
 
-# Generate car.lua from the hostname at build time and install it.
-# The generated file will be written to the build tree and then installed
-# into share/${PROJECT_NAME}/config/car.lua so it ends up at
-# $(ros2 pkg prefix ut_automata)/share/ut_automata/config/car.lua
-set(GENERATED_CAR_LUA ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config/car.lua)
-
-add_custom_command(
-  OUTPUT ${GENERATED_CAR_LUA}
-  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config
-  COMMAND /bin/sh -c "hn=$(hostname); num=$(echo \"${hn}\" | grep -oE '[0-9]+' | tail -n1); if [ -z \"${num}\" ]; then num=0; fi; printf 'car_name = \"car%s\";\\n' \"${num}\" > \"${GENERATED_CAR_LUA}\""
-  COMMENT "Generating ${GENERATED_CAR_LUA} from hostname"
-  VERBATIM
-)
-
-add_custom_target(generate_car_lua ALL DEPENDS ${GENERATED_CAR_LUA})
-
-# Install the generated file into the package share directory so it's available
-# after 'colcon build' under $(ros2 pkg prefix ut_automata)/share/ut_automata/config/car.lua
-install(FILES ${GENERATED_CAR_LUA} DESTINATION share/${PROJECT_NAME}/config)
-
 # ament_package() MUST be the last line
 ament_package()

config/vesc.lua

@@ -26,8 +26,8 @@ joystick_turbo_speed = 2.0; -- m/s
 
 -- Maximum steering angle in radians for joystick control
 -- Formula: max_steering_angle = atan(wheelbase / desired_min_turning_radius)
--- Example: 0.286 rad (16.4°) gives 1.1m turning radius with 0.324m wheelbase
-max_steering_angle = 0.286; -- radians
+-- Example: 0.425 rad (24.35°) gives 0.75m turning radius with 0.324m wheelbase
+max_steering_angle = 0.425; -- radians
 
 -- IMU fusion parameters
 fuse_imu = true; -- Set to true to fuse IMU data with odometry using EKF
@@ -36,3 +36,13 @@ calibrate_imu = true; -- Calibrate IMU on startup
 imu_gyro_range = 0; -- 0=250, 1=500, 2=1000, 3=2000 deg/s
 imu_accel_range = 0; -- 0=2g, 1=4g, 2=8g, 3=16g
 imu_dlpf_bandwidth = 0; -- 0=260Hz, 1=184Hz, 2=94Hz, 3=44Hz, 4=21Hz, 5=10Hz, 6=5Hz
+
+-- Debug EKF logging for drift analysis
+debug_ekf = true; -- Set to true to log EKF data
+debug_log_path = "/home/orin/roboracer_ws/data/debug/ekf_debug.csv"; -- Path to debug log file
+
+-- IMU mounting orientation is configured in vesc_driver.cpp
+-- Common orientations:
+--   Standard (IMU +x forward, +y left): {1, 0, 1, 1, 1, 2}
+--   IMU +x rear, +y right: {-1, 0, -1, 1, -1, 0}
+--   IMU +x right, +y forward: {1, 1, -1, 0, 1, 2}