import roslib; roslib.load_manifest('roboint')
import rospy
import tf
+import tf.broadcaster
+import tf.transformations
from math import sin, cos, pi
from geometry_msgs.msg import Twist, TransformStamped, Point32
from sensor_msgs.msg import LaserScan
self.y = 0
self.alpha = 0
self.last_in = None
- self.tf_broadcaster = tf.TransformBroadcaster()
+ self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
self.last_time = rospy.Time.now()
self.x_last = 0
self.y_last = 0
self.last_time = current_time
def update_odometry(self, msg, current_time):
- in_now = msg.input[1:3]
+ in_now = msg.input[:2]
if self.last_in is not None:
in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs
# fix in_diff from actual motor direction