remove amcl and use odom as global frame

[ros_roboint.git] / scripts / robo_explorer.py

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 33114931a7ec6f9b5ae29b434b9f743cedbed303..db7a2271d99713919f260c373fda1075fac6b3bb 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -2,10 +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 math import *
+from geometry_msgs.msg import Twist, TransformStamped, Point32, PoseWithCovarianceStamped
 from sensor_msgs.msg import LaserScan
 from nav_msgs.msg import Odometry
 from roboint.msg import Motor
@@ -37,15 +35,23 @@ class RoboExplorer:
                # Speed to PWM equation constant (The b in pwm = speed*m+b)
                self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7"))
 
-               self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
+               self.pub_motor = rospy.Publisher("ft/set_motor", Motor, queue_size=16)
                if self.enable_ultrasonic_laser:
-                       self.pub_scan = rospy.Publisher("scan", LaserScan)
-               self.pub_odom = rospy.Publisher("odom", Odometry)
+                       self.pub_scan = rospy.Publisher("scan", LaserScan, queue_size=16)
+               self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
                
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
+               rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.posReceived)
 
                rospy.spin()
+       
+       def posReceived(self, msg):
+               self.x = msg.pose.pose.position.x
+               self.y = msg.pose.pose.position.y
+               orientation = msg.pose.pose.orientation
+               angles = tf.transformations.euler_from_quaternion([orientation.x, orientation.y, orientation.z, orientation.w])
+               self.alpha = angles[2]
 
        def inputsReceived(self, msg):
                current_time = rospy.Time.now()
@@ -71,10 +77,10 @@ class RoboExplorer:
                        elif msg.output[2] == 0 and msg.output[3] == 0: # right stop
                                in_diff[1] = 0
 
-                       dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8 # steps_changed in different direction => m
+                       dist_dir = (in_diff[1] - in_diff[0]) * self.wheel_size*pi/8 # steps_changed in different direction => m
                        delta_alpha = dist_dir/self.wheel_dist
 
-                       dist = (in_diff[0] + in_diff[1])/2.0*self.wheel_size*pi/8 # steps_changed same direction => m
+                       dist = (in_diff[0] + in_diff[1])/2.0 * self.wheel_size*pi/8 # steps_changed same direction => m
 
                        delta_x = cos(self.alpha + delta_alpha/2)*dist
                        delta_y = sin(self.alpha + delta_alpha/2)*dist
@@ -92,8 +98,10 @@ class RoboExplorer:
        def send_odometry(self, msg, current_time):
                # speeds
                dt = (current_time - self.last_time).to_sec()
-               vx = (self.x - self.x_last) / dt
-               vy = (self.y - self.y_last) / dt
+               vx = sqrt((self.x - self.x_last)**2 + (self.y - self.y_last)**2) / dt
+               if (msg.output[0]-msg.output[1] + msg.output[2]-msg.output[3]) < 0:
+                       # moving backward
+                       vx*=-1
                valpha = (self.alpha - self.alpha_last) / dt
                self.x_last = self.x
                self.y_last = self.y
@@ -122,22 +130,19 @@ class RoboExplorer:
                # set the velocity
                odom.child_frame_id = "base_link"
                odom.twist.twist.linear.x = vx
-               odom.twist.twist.linear.y = vy
+               odom.twist.twist.linear.y = 0.0
                odom.twist.twist.angular.z = valpha
 
                # publish the message
                self.pub_odom.publish(odom)
                
        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")
-
                # actually ultra sonic range finder
                num_points = 60 # The base planner needs at least 30 points to work in the default config
                opening_angle = 30*pi/180 # each side
                scan = LaserScan()
                scan.header.stamp = current_time
-               scan.header.frame_id = "/scan"
+               scan.header.frame_id = "forward_sensor"
                scan.angle_min = -opening_angle
                scan.angle_max = opening_angle
                scan.angle_increment = (2*opening_angle)/num_points