open-dynamic-robot-initiative/master-board

Velocity is not in SI

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thomasfla commented

Velocity is not in SI, (1000. / 60.) should be replaced by (2. * M_PI * 1000. / 60.) to convert krpm to rad/s.
Change should also affect velocity velocity_ref and kd

jviereck commented

Agreed. We are using the 2 * pi * 1000 / 60. conversion for the CAN based communication as well 1.

Sorry I got this wrong.

Working on a PR now.