templates/lms-nav2-mkmini
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feat(nav2): add mkmini lidar mount profile

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chyoo
2026-08-12 10:17:22 +09:00
parent e2315358bf
commit 1799a5bb1b
1 changed files with 16 additions and 2 deletions
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src/vehicle_pkg/config/platforms/platform_mkmini.yaml
+16 -2
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@@ -16,8 +16,22 @@ platform:
wheelbase: 0.6 # m (= 기존 vehicle_mkmini.yaml cmd_vel_to_*.wheelbase) wheelbase: 0.6 # m (= 기존 vehicle_mkmini.yaml cmd_vel_to_*.wheelbase)
max_steering_angle: 0.5 # rad max_steering_angle: 0.5 # rad
max_speed: 0.6 # m/s (sim 상한; 실차 안전상한은 vehicle_driver 프로파일) max_speed: 0.6 # m/s (sim 상한; 실차 안전상한은 vehicle_driver 프로파일)
track_width: # m — 미측정 (현재 odom/TF 미사용). 측정 후 기입 track_width: 0.51 # m (실측 휠 중심 간 거리)
wheel_radius: # m — 미측정 (현재 미사용) wheel_radius: 0.12 # m (실측)
wheel_width: 0.05 # m (실측)
front_overhang: 0.12 # m (실측)
rear_overhang: 0.12 # m (실측)
left_overhang: 0.05 # m (실측)
right_overhang: 0.05 # m (실측)
lidar_mount:
x: 0.15 # m, base_link 기준
y: 0.0
z: 0.5
roll: 0.0
pitch: 0.0
yaw: 0.0
frame_id: base_link
child_frame_id: os_lidar
# 드라이버 선택 (선택 source = 이 데이터. registry.py 는 이름→노드만) # 드라이버 선택 (선택 source = 이 데이터. registry.py 는 이름→노드만)
default_vehicle_driver: yhs_can # 실차 (sim_mode=false) default_vehicle_driver: yhs_can # 실차 (sim_mode=false)