coordinate/tf fixes

[ros_roboint.git] / scripts / robo_explorer.py

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index af40fff1ed68ec3d36644a5a906b290e8d19566b..fd26738fb18b4f4ae90a18d66e04bae38f808100 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -4,7 +4,7 @@ import rospy
 import tf
 from math import sin, cos, pi
 from geometry_msgs.msg import Twist, TransformStamped, Point32
-from sensor_msgs.msg import PointCloud
+from sensor_msgs.msg import LaserScan
 from nav_msgs.msg import Odometry
 from roboint.msg import Motor
 from roboint.msg import Inputs
@@ -18,7 +18,7 @@ class RoboExplorer:
                rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
 
                self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
-               self.pub_cloud = rospy.Publisher("point_cloud", PointCloud)
+               self.pub_scan = rospy.Publisher("scan", LaserScan)
                self.pub_odom = rospy.Publisher("odom", Odometry)
 
                self.wheel_dist = 0.188 # 18.8cm
@@ -28,7 +28,7 @@ class RoboExplorer:
                self.y = 0
                self.alpha = 0
                self.last_in = [0, 0]
-               self.odom_broadcaster = tf.TransformBroadcaster()
+               self.tf_broadcaster = tf.TransformBroadcaster()
                self.last_time = rospy.Time.now()
 
                rospy.spin()
@@ -36,8 +36,9 @@ class RoboExplorer:
        def inputsReceived(self, msg):
                current_time = rospy.Time.now()
 
+               self.tf_broadcaster.sendTransform((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "map", "base_link");
                self.send_odometry(msg, current_time)
-               self.send_point_cloud(msg, current_time)
+               self.send_laser_scan(msg, current_time)
 
                self.last_time = current_time
 
@@ -72,22 +73,25 @@ class RoboExplorer:
                vy = delta_y / dt
                valpha = delta_alpha / dt
 
-               # since all odometry is 6DOF we'll need a quaternion created from yaw
-               odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha)
-
                # first, we'll publish the transform over tf
-               self.odom_broadcaster.sendTransform((0.0, 0.0, 0.0), odom_quat, current_time, "odom", "base_link");
+               self.tf_broadcaster.sendTransform((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "odom", "base_link");
 
                # next, we'll publish the odometry message over ROS
                odom = Odometry()
                odom.header.stamp = current_time
-               odom.header.frame_id = "odom"
+               odom.header.frame_id = "/odom"
+
+               # since all odometry is 6DOF we'll need a quaternion created from yaw
+               odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha)
 
                # set the position
                odom.pose.pose.position.x = self.x
                odom.pose.pose.position.y = self.y
                odom.pose.pose.position.z = 0.0
-               odom.pose.pose.orientation = odom_quat
+               odom.pose.pose.orientation.x = odom_quat[0]
+               odom.pose.pose.orientation.y = odom_quat[1]
+               odom.pose.pose.orientation.z = odom_quat[2]
+               odom.pose.pose.orientation.w = odom_quat[3]
 
                # set the velocity
                odom.child_frame_id = "base_link";
@@ -98,12 +102,26 @@ class RoboExplorer:
                # publish the message
                self.pub_odom.publish(odom)
                
-       def send_point_cloud(self, msg, current_time):
-               cloud = PointCloud()
-               cloud.header.stamp = current_time
-               cloud.header.frame_id = "sensor_frame"
-               cloud.points.append(Point32(msg.d1/10.0, 0, 0))
-               self.pub_cloud.publish(cloud)
+       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, "base_link", "scan");
+
+               # actually ultra sonic range finder
+               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 = 0.01;
+               scan.range_min = 0.0;
+               scan.range_max = 4.0;
+               for i in range(3):
+                       scan.ranges.append(msg.d1/100.0)
+               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]'
        def cmdVelReceived(self, msg):
@@ -116,13 +134,13 @@ class RoboExplorer:
                # handle translation
                speed_l = 0
                wish_speed_left = trans - speed_offset
-               if abs(wish_speed_left) > 0:
+               if abs(wish_speed_left) > 1.7/64.3:
                        speed_l = 64.3*abs(wish_speed_left) - 1.7
                        if wish_speed_left < 0:
                                speed_l*=-1
                speed_r = 0
                wish_speed_right = trans + speed_offset
-               if abs(wish_speed_right) > 0:
+               if abs(wish_speed_right) > 1.7/64.3:
                        speed_r = 64.3*abs(wish_speed_right) - 1.7
                        if wish_speed_right < 0:
                                speed_r*=-1