umbmark: use absolute position

diff --git a/scripts/umbmark.py b/scripts/umbmark.py
index 398f2be10cde91fb16ff057e3ceb8b5634c49340..60a7b5deaeae6cb8ef8b9173ca3ea0f9908a0bce 100755 (executable)
--- a/scripts/umbmark.py
+++ b/scripts/umbmark.py
@@ -62,7 +62,7 @@ class UMBMark:
                rospy.loginfo("Moving to (%.2f, %2f), %d°.." % (x, y, angle*180/pi))
 
                goal = MoveBaseGoal()
-               goal.target_pose.header.frame_id = "base_footprint"
+               goal.target_pose.header.frame_id = "odom"
                goal.target_pose.header.stamp = rospy.Time.now()
                goal.target_pose.pose.position.x = x
                goal.target_pose.pose.position.y = y
@@ -84,9 +84,29 @@ class UMBMark:
                while self.odom_pose is None:
                        sleep(0.1)
                init_pose = self.odom_pose
-               for i in range(4):
-                       self.next_pos(size, 0, 0)
-                       self.next_pos(0, 0, direction*90*pi/180)
+
+               x = size
+               y = 0
+               angle = 0
+               self.next_pos(x, y, angle)
+               angle = direction*90*pi/180
+               self.next_pos(x, y, angle)
+
+               y = size*direction
+               self.next_pos(x, y, angle)
+               angle = direction*180*pi/180
+               self.next_pos(x, y, direction*-180*pi/180)
+
+               x = 0
+               self.next_pos(x, y, angle)
+               angle = direction*270*pi/180
+               self.next_pos(x, y, angle)
+
+               y = 0
+               self.next_pos(x, y, angle)
+               angle = 0
+               self.next_pos(x, y, angle)
+
                final_pose = map(operator.sub, self.odom_pose, init_pose)
                print "Odom Pose: x=%.3f, y=%.3f, angle=%.3f°" % (final_pose[0], final_pose[1], final_pose[2]*180/pi)