added readme

diff --git a/README.txt b/README.txt
new file mode 100644 (file)
index 0000000..e1fd423
--- /dev/null
+++ b/README.txt
@@ -0,0 +1,23 @@
+Requirements:
+==========
+Use Robo Explorer with Wheels instead of Tracks:
+Tracks are too inaccurate for Odometry.
+I used the Setup from Mobile Robots 2.
+
+Commands:
+==========
+-When running a component (eg. rviz) remote:
+# export ROS_MASTER_URI=http://192.168.0.2:11311
+# export ROS_IP=$OWN_IP
+-Start Explorer:
+# roslaunch explorer_configuration.launch
+-Start Navigation Stack:
+# roslaunch move_base.launch
+-Start RViz:
+# rosrun rviz rviz
+-Manually setting of Translation/Rotation speed:
+# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.0, 0, 0]' '[0, 0, 0.0]'
+
+Notes:
+==========
+Laserscan is faked by the sonar sensor.

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 0224ad946b1e52bb0307433b812f97cbded22373..ca84cc0cfa0dc867c79d9b9c4dd6fc0fec347f7d 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -2,8 +2,8 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.105
-inflation_radius: 0.55
+inflation_radius: 0.15
 
 observation_sources: laser_scan_sensor
 
-laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: base_scan, marking: true, clearing: true}
+laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 693a8d0110bd53ef571e6adf4cecce67355562b4..cfc23fa70aa2868697be8f1b2847a33506f2d093 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -23,7 +23,6 @@ class RoboExplorer:
                self.last_in = None
                self.tf_broadcaster = tf.TransformBroadcaster()
                self.last_time = rospy.Time.now()
-               self.input_count = 0
                self.x_last = 0
                self.y_last = 0
                self.alpha_last = 0
@@ -39,13 +38,12 @@ class RoboExplorer:
 
        def inputsReceived(self, msg):
                current_time = rospy.Time.now()
-               self.input_count+=1
 
                self.update_odometry(msg, current_time)
-               if self.input_count >= 10:
-                       self.input_count = 0
+               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)
+                       self.last_time = current_time
 
        def update_odometry(self, msg, current_time):
                in_now = msg.input[1:3]
@@ -85,7 +83,6 @@ class RoboExplorer:
                vx = (self.x - self.x_last) / dt
                vy = (self.y - self.y_last) / dt
                valpha = (self.alpha - self.alpha_last) / dt
-               self.last_time = current_time
                self.x_last = self.x
                self.y_last = self.y
                self.alpha_last = self.alpha
@@ -124,7 +121,7 @@ class RoboExplorer:
                self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link")
 
                # actually ultra sonic range finder
-               num_points = 30
+               num_points = 60 # The base planner needs at least 30 points to work in the default config
                opening_angle = 30*pi/180 # each side
                scan = LaserScan()
                scan.header.stamp = current_time
@@ -132,7 +129,7 @@ class RoboExplorer:
                scan.angle_min = -opening_angle
                scan.angle_max = opening_angle
                scan.angle_increment = (2*opening_angle)/num_points
-               scan.time_increment = 0.1/num_points
+               scan.time_increment = 0.001/num_points
                scan.range_min = 0.0
                scan.range_max = 4.0
                for i in range(num_points):
@@ -170,6 +167,8 @@ class RoboExplorer:
                if speed_r < -7: speed_r = -7
                elif speed_r > 7: speed_r = 7
 
+               #print "Speed wanted: %.2f %.2f, set: %d %d" % (trans, rot*180/pi, round(speed_l), round(speed_r))
+
                outmsg = Motor()
                outmsg.num = 1
                outmsg.speed = round(speed_l)