How to find wheel_separation and wheel_radius?

[brian7989]

Hello everyone,

I'm currently working on a project using the Create3 robot in ROS2, and I've encountered a challenge with configuring the diffdrive_controller. Specifically, I need to accurately set the wheel_separation and wheel_radius parameters to ensure proper functioning of the odom frame.

After looking through the Webots PROTO file for Create3, I've been unable to find definitive values for these parameters. From my understanding, setting these parameters correctly is critical for accurate robot movement and odometry.

Has anyone faced a similar issue or have experience configuring these parameters for Create3 in ROS2? I'm looking for guidance or resources on how to determine these values correctly.

Any insights, suggestions, or pointing towards relevant documentation would be greatly appreciated!

Thank you in advance!