X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=scripts%2Frobo_explorer.py;fp=scripts%2Frobo_explorer.py;h=3a302cc40df33d504aa146d0a6da7b954a892de8;hp=33114931a7ec6f9b5ae29b434b9f743cedbed303;hb=416ac5d02482b1f9ca9534f1eccf067a585ecf86;hpb=5bd3f425969181c6de15a3f8b32bf72ab5c83772

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 3311493..3a302cc 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -4,7 +4,7 @@ import rospy
 import tf
 import tf.broadcaster
 import tf.transformations
-from math import sin, cos, pi
+from math import *
 from geometry_msgs.msg import Twist, TransformStamped, Point32
 from sensor_msgs.msg import LaserScan
 from nav_msgs.msg import Odometry
@@ -92,8 +92,8 @@ 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
+		vy = 0.0
 		valpha = (self.alpha - self.alpha_last) / dt
 		self.x_last = self.x
 		self.y_last = self.y