added basecontrol2 settings for new model

app/CMakeLists.txt

@@ -10,6 +10,8 @@ add_subdirectory(baseControl)
 add_subdirectory(baseControl2)
 add_subdirectory(baseControl_SIM)
 add_subdirectory(baseControl2_SIM)
+add_subdirectory(baseControl2_SIM_new_model)
+
 
 add_subdirectory(robotGoto)
 add_subdirectory(freeFloorViewer)

app/baseControl2_SIM_new_model/CMakeLists.txt

@@ -0,0 +1,10 @@
+set(appname baseControl2_SIM_new_model)
+
+file(GLOB conf      ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
+file(GLOB templates ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template)
+file(GLOB apps      ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
+
+yarp_install(FILES ${conf}    DESTINATION ${NAVIGATION_CONTEXTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${apps}    DESTINATION ${NAVIGATION_APPLICATIONS_INSTALL_DIR})
+yarp_install(FILES ${scripts} DESTINATION ${NAVIGATION_APPLICATIONS_TEMPLATES_INSTALL_DIR})
+

app/baseControl2_SIM_new_model/conf/cer_baseControl2_ros2.ini

@@ -0,0 +1,78 @@
+/// Initialization file for cer base controller
+robot r1mk3Sim
+part base
+
+[include "joystick_configs.ini"]
+
+[BASECTRL_GENERAL]
+joypad1_configuration         <joystick_port>
+joypad2_configuration         <none>
+robot_type                    cer
+control_mode                  velocity_no_pid
+linear_angular_ratio          0.7
+ratio_limiter_enabled         1
+input_filter_enabled          0
+max_linear_vel                0.30   //m/s
+max_angular_vel               30.0   //deg/s
+max_linear_acc                0.30   //m/s2
+max_angular_acc               80.0   //deg/s2
+number_of_inputs              4
+
+[BASECTRL_INPUTS_0]
+input_name                    joystick
+max_timeout                   0.2
+nws_name                      mobileBaseVelocityControl_nws_yarp
+local                         /baseControl/input/joystick
+
+[BASECTRL_INPUTS_1]
+input_name                    command
+max_timeout                   0.2
+nws_name                      mobileBaseVelocityControl_nws_yarp
+local                         /baseControl/input/command
+
+[BASECTRL_INPUTS_2]
+input_name                    aux
+max_timeout                   0.2
+nws_name                      mobileBaseVelocityControl_nws_yarp
+local                         /baseControl/input/aux
+
+[BASECTRL_INPUTS_3]
+input_name                    ros2
+max_timeout                   0.35
+nws_name                      mobileBaseVelocityControl_nws_ros2
+node_name                     basecontrol_ros2_input
+topic_name                    /cmd_vel
+
+[ROBOT_GEOMETRY]
+geom_r                        0.16416   //m wheels radius          ((320.0 / 2 / 1000.0)*1.026)
+geom_L                        0.338     //m wheels distance  
+
+[MOTORS]
+max_motor_pwm            10000  //pwm_units
+max_motor_vel            100    //deg/s
+motors_filter_enabled    10
+
+[JOYSTICK]
+linear_vel_at_full_control    0.30   //m
+angular_vel_at_full_control   30.0   //deg/s
+
+[LINEAR_VELOCITY_PID]
+kp  0.0
+ki  0.0
+kd  0.0
+max +200
+min -200
+
+[ANGULAR_VELOCITY_PID]
+kp  0.0
+ki  0.0
+kd  0.0
+max +200
+min -200
+
+[HEADING_VELOCITY_PID]
+kp  0.0
+ki  0.0
+kd  0.0
+max +100
+min -100