-Added missing A1,A2,AX,AY to Inputs.msg

[ros_roboint.git] / scripts / robo_explorer.py

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index cfc23fa70aa2868697be8f1b2847a33506f2d093..73e2ae8bdc09f146af6187477525cb02b984ada7 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -2,6 +2,8 @@
 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
@@ -21,7 +23,7 @@ class RoboExplorer:
                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
@@ -46,7 +48,7 @@ class RoboExplorer:
                        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