coordinate/tf fixes

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 1e02898e90b7d6d9e9c9c927caa67c5c9d4a78ed..fd26738fb18b4f4ae90a18d66e04bae38f808100 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -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_scan = rospy.Publisher("base_scan", LaserScan)
+               self.pub_scan = rospy.Publisher("scan", LaserScan)
                self.pub_odom = rospy.Publisher("odom", Odometry)
 
                self.wheel_dist = 0.188 # 18.8cm
@@ -36,6 +36,7 @@ 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_laser_scan(msg, 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.tf_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";
@@ -100,12 +104,12 @@ class RoboExplorer:
                
        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", "base_scan");
+               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 = "base_link"
+               scan.header.frame_id = "/scan"
                scan.angle_min = -pi/4;
                scan.angle_max = pi/4;
                scan.angle_increment = pi/4;