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Fix: Re-calibrate A200 wheel travel offset on first activation to fix… - #358

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tonybaltovski merged 1 commit into
jazzyfrom
fix/a200-odom-delta
Sep 4, 2026
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Fix: Re-calibrate A200 wheel travel offset on first activation to fix…#358
tonybaltovski merged 1 commit into
jazzyfrom
fix/a200-odom-delta

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@tonybaltovski tonybaltovski commented Sep 3, 2026 •
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Pull Request

Description

Re-calibrate A200 wheel travel offset on first activation to fix false startup odometry.

Related issue

Fixes #357

Related pull requests

N/A

Type of change

  • Bug fix
  • New feature
  • Breaking change
  • Documentation
  • Other (please describe):

How has this been tested?

User verified it resolved the issue.

Checklist

  • I have read and followed the contributing guidelines
  • The workspace builds (colcon build)
  • Tests pass (colcon test)
  • The generator tests pass
  • I have added or updated tests where appropriate
  • I have updated documentation where appropriate

mibrahim-cpr
mibrahim-cpr reviewed Sep 3, 2026
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Comment thread clearpath_hardware_interfaces/src/a200/hardware.cpp
@tonybaltovski
tonybaltovski marked this pull request as ready for review September 4, 2026 14:50
@tonybaltovski
tonybaltovski requested a review from a team as a code owner September 4, 2026 14:50
@tonybaltovski
tonybaltovski requested review from luis-camero, mibrahim-cpr, nnarain-cpr and twallis-cpr and removed request for a team September 4, 2026 14:50
@tonybaltovski tonybaltovski self-assigned this Sep 4, 2026
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@tonybaltovski
tonybaltovski merged commit 81f5eed into jazzy Sep 4, 2026
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@mergify mergify Bot mentioned this pull request Sep 4, 2026
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tonybaltovski added a commit that referenced this pull request Sep 4, 2026
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Fix: Re-calibrate A200 wheel travel offset on first activation to fix…
1654fa8 
… false startup odometry. (#358) (#361)

(cherry picked from commit 81f5eed)

Co-authored-by: Tony Baltovski <tbaltovski@clearpathrobotics.com>
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Reviewers

@twallis-cpr twallis-cpr twallis-cpr approved these changes
@mibrahim-cpr mibrahim-cpr mibrahim-cpr approved these changes
@nnarain-cpr nnarain-cpr Awaiting requested review from nnarain-cpr nnarain-cpr is a code owner automatically assigned from clearpathrobotics/clearpath-platform-team
@luis-camero luis-camero Awaiting requested review from luis-camero luis-camero is a code owner automatically assigned from clearpathrobotics/clearpath-platform-team

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A200 wheel odometry bug

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@tonybaltovski @twallis-cpr @mibrahim-cpr