- self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
- self.pub_scan = rospy.Publisher("scan", LaserScan)
- self.pub_odom = rospy.Publisher("odom", Odometry)
+ # Distance between both wheels in meter (18.55cm)
+ self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.1855"))
+ # Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm
+ self.wheel_size = float(rospy.get_param('~wheel_size', "0.02575"))
+ # Speed to PWM equation gradiant (The m in pwm = speed*m+b)
+ self.speed_gradiant = float(rospy.get_param('~speed_gradiant', "64.3"))
+ # Speed to PWM equation constant (The b in pwm = speed*m+b)
+ self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7"))
+
+ self.pub_motor = rospy.Publisher("ft/set_motor", Motor, queue_size=16)
+ self.pub_sonar = rospy.Publisher("sonar", Range, queue_size=16)
+ self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)