From 822c05d03c09295fb9687b3f58a9b9d7fbd3d170 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Wed, 4 Sep 2013 12:13:19 +0200
Subject: [PATCH] Configurable robo_explorer

---
 explorer_configuration.launch |  8 ++++++--
 scripts/robo_explorer.py      | 11 +++++++----
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index f9e4302..71d23bd 100644
--- 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 73e2ae8..039fbd4 100755
--- 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):
-- 
2.39.2