wip ultra sonic range finder to publish laserscan

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index aa9835248539bdb3c96a225594e759cb50b87098..1e02898e90b7d6d9e9c9c927caa67c5c9d4a78ed 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("base_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()
@@ -37,7 +37,7 @@ class RoboExplorer:
                current_time = rospy.Time.now()
 
                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
 
@@ -76,7 +76,7 @@ class RoboExplorer:
                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), odom_quat, current_time, "odom", "base_link");
 
                # next, we'll publish the odometry message over ROS
                odom = Odometry()
@@ -98,12 +98,26 @@ 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", "base_scan");
+
+               # actually ultra sonic range finder
+               scan = LaserScan()
+               scan.header.stamp = current_time
+               scan.header.frame_id = "base_link"
+               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):