From 2a9e5e35d9c3865a856f1029a82f7d0c0f62d32a Mon Sep 17 00:00:00 2001 From: erik Date: Sun, 25 Aug 2013 09:05:48 +0200 Subject: [PATCH] "laser" scan to 30 points --- scripts/robo_explorer.py | 29 +++++++++++++++-------------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index 36ec828..22ea4d0 100755 --- 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]' -- 2.39.5