From: Erik Andresen <erik@vontaene.de>
Date: Sat, 13 Jun 2015 17:45:41 +0000 (+0200)
Subject: added 3dsensor
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=37ec2a1056b61c00cefc44bca9bb5eb7d782a6e1;p=ros_wild_thumper.git

added 3dsensor
---

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
new file mode 100644
index 0000000..8276bb6
--- /dev/null
+++ b/launch/3dsensor.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+	<include file="$(find openni2_launch)/launch/openni2.launch">
+		<arg name="depth_processing" value="true" />
+		<arg name="rgb_processing" value="false" />
+		<arg name="depth_registered_processing" value="false" />
+	</include>
+
+	<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
+		<remap from="/camera/image" to="/camera/depth/image_raw"/>
+		<remap from="/camera/scan" to="/scan"/>
+	</node>
+</launch>
diff --git a/package.xml b/package.xml
index 6911afe..2093ebd 100644
--- a/package.xml
+++ b/package.xml
@@ -45,7 +45,10 @@
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>image_transport</build_depend>
+  <build_depend>openni2_camera</build_depend>
   <run_depend>hector_sensors_description</run_depend>
+  <run_depend>openni2_launch</run_depend>
+  <run_depend>depthimage_to_laserscan</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/scripts/move_base.py b/scripts/move_base.py
index 6c066f3..0beaf26 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -24,6 +24,7 @@ class MoveBase:
 		self.set_speed(0, 0)
 		rospy.loginfo("Init done")
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
+		self.handicap_last = (-1, -1)
 		self.run()
 	
 	def run(self):
@@ -42,18 +43,18 @@ class MoveBase:
 			rate.sleep()
 
 	def set_motor_handicap(self, front, aft): # percent
-		i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+		if self.handicap_last != (front, aft):
+			i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+			self.handicap_last = (front, aft)
 
 	def imuReceived(self, msg):
 		(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 		if pitch > 30*pi/180:
-			val = (100/90)*abs(pitch)*180/pi
-			print "aft handicap", val
-			self.set_motor_handicap(0, val)
+			val = (100.0/65)*abs(pitch)*180/pi
+			self.set_motor_handicap(0, int(val))
 		elif pitch < -30*pi/180:
-			val = (100/90)*abs(pitch)*180/pi
-			print "front handicap", val
-			self.set_motor_handicap(val, 0)
+			val = (100.0/65)*abs(pitch)*180/pi
+			self.set_motor_handicap(int(val), 0)
 		else:
 			self.set_motor_handicap(0, 0)