Configurable robo_explorer

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index f9e4302caeef3fdaadf927bf25f4fc5207d2e7ca..71d23bdfb1d20302c2ef239798927a77f1feea46 100644 (file)
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,9 +1,13 @@
 <launch>
        <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
-               <param name="odom_param" value="param_value" />
        </node>
 
        <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
-               <param name="sensor_param" value="param_value" />
+               <!-- fake laser scan with ultra sonic range finder -->
+               <param name="ultrasonic_laser" value="1" />
+               <!-- Distance between both wheels in meter (18.8cm) -->
+               <param name="wheel_dist" value="0.188" />
+               <!-- Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm -->
+               <param name="wheel_size" value="0.0255" />
        </node>
 </launch>

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 73e2ae8bdc09f146af6187477525cb02b984ada7..039fbd41e0cd670279860468e8d7fa0150455e62 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -16,8 +16,6 @@ class RoboExplorer:
        def __init__(self):
                rospy.init_node('robo_explorer')
 
-               self.wheel_dist = 0.188 # 18.8cm
-               self.wheel_size = 0.051*0.5 # 5.1cm; gear ration=0.5
                self.speed = (0, 0)
                self.x = 0
                self.y = 0
@@ -29,6 +27,10 @@ class RoboExplorer:
                self.y_last = 0
                self.alpha_last = 0
 
+               self.enable_ultrasonic_laser = int(rospy.get_param('~ultrasonic_laser', "1"))
+               self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.188"))
+               self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255"))
+
                self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
                self.pub_scan = rospy.Publisher("scan", LaserScan)
                self.pub_odom = rospy.Publisher("odom", Odometry)
@@ -44,7 +46,8 @@ class RoboExplorer:
                self.update_odometry(msg, current_time)
                if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms
                        self.send_odometry(msg, current_time)
-                       self.send_laser_scan(msg, current_time)
+                       if self.enable_ultrasonic_laser:
+                               self.send_laser_scan(msg, current_time)
                        self.last_time = current_time
 
        def update_odometry(self, msg, current_time):
@@ -131,7 +134,7 @@ class RoboExplorer:
                scan.angle_min = -opening_angle
                scan.angle_max = opening_angle
                scan.angle_increment = (2*opening_angle)/num_points
-               scan.time_increment = 0.001/num_points
+               scan.time_increment = 0.0
                scan.range_min = 0.0
                scan.range_max = 4.0
                for i in range(num_points):