"laser" scan to 30 points

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 36ec82870a4844c2cbd62a358363f1c614ad7118..22ea4d0efc288d232dc18f4a58ea45c90b19220b 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -44,7 +44,6 @@ class RoboExplorer:
                self.update_odometry(msg, current_time)
                if self.input_count >= 10:
                        self.input_count = 0
-                       self.tf_broadcaster.sendTransform((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "odom", "map");
                        self.send_odometry(msg, current_time)
                        self.send_laser_scan(msg, current_time)
 
@@ -95,7 +94,7 @@ class RoboExplorer:
                odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha)
 
                # first, we'll publish the transform over tf
-               self.tf_broadcaster.sendTransform((self.x, self.y, 0.0), odom_quat, current_time, "base_link", "odom");
+               self.tf_broadcaster.sendTransform((self.x, self.y, 0.0), odom_quat, current_time, "base_link", "odom")
 
                # next, we'll publish the odometry message over ROS
                odom = Odometry()
@@ -112,7 +111,7 @@ class RoboExplorer:
                odom.pose.pose.orientation.w = odom_quat[3]
 
                # set the velocity
-               odom.child_frame_id = "base_link";
+               odom.child_frame_id = "base_link"
                odom.twist.twist.linear.x = vx
                odom.twist.twist.linear.y = vy
                odom.twist.twist.angular.z = valpha
@@ -122,23 +121,25 @@ class RoboExplorer:
                
        def send_laser_scan(self, msg, current_time):
                # first, we'll publish the transform over tf
-               self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link");
+               self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link")
 
                # actually ultra sonic range finder
+               num_points = 30
+               opening_angle = 30*pi/180 # each side
                scan = LaserScan()
                scan.header.stamp = current_time
                scan.header.frame_id = "/scan"
-               scan.angle_min = -pi/4;
-               scan.angle_max = pi/4;
-               scan.angle_increment = pi/4;
-               scan.time_increment = 0.1;
-               scan.range_min = 0.0;
-               scan.range_max = 4.0;
-               for i in range(3):
+               scan.angle_min = -opening_angle
+               scan.angle_max = opening_angle
+               scan.angle_increment = (2*opening_angle)/num_points
+               scan.time_increment = 0.1/num_points
+               scan.range_min = 0.0
+               scan.range_max = 4.0
+               for i in range(num_points):
                        scan.ranges.append(msg.d1/100.0)
-               scan.intensities.append(0.5)
-               scan.intensities.append(1.0)
-               scan.intensities.append(0.5)
+               #scan.intensities.append(0.5)
+               #scan.intensities.append(1.0)
+               #scan.intensities.append(0.5)
                self.pub_scan.publish(scan)
 
        # test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]'