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the above devices should be configured following the chassis coordinate system. The detail of installation will be explained in the following section of this document. In addition, other parameters like regarding wheel span, robot size, automatic recharge could be also configured with slamware_config_tool.

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Robot Diameter and Wheel Span Configuration

The diameter of the robot circumscribed circle of the chassis should be set considered as the Robot Diameter. This value is used to filter out obstacles detected by the lidar within the size of the chassis and prevent the objects on the chassis from misdirection and wrong navigation. Robot Wheel Span is the diameter of the circumscribed circle of the wheel of the robot, including the two-wheel and three-wheel omni-directional wheels. The measurement should start from the center of the tire thickness begins to measure.

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Bump Handle Strategy is set to Default, that is, when bumper is triggered, robot start to move back and find other path paths available.

Feature Configuration

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