From ee1be750d172797343ddb45ce1911990b2faa2d1 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Thu, 5 Sep 2013 17:25:30 +0200 Subject: [PATCH] robo_explorer: more settings --- README | 7 +++++-- explorer_configuration.launch | 2 +- scripts/robo_explorer.py | 19 +++++++++++++------ 3 files changed, 19 insertions(+), 9 deletions(-) diff --git a/README b/README index d772dd3..8e6dd95 100644 --- a/README +++ b/README @@ -8,7 +8,7 @@ Its is split in the Nodes: -robo_explorer.py: Provides the Robo Explorer functions: Laserscan is faked by the Sonar Sensor. -You need to use Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry. +You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry. I used the Wheel Setup from Mobile Robots 2. @@ -42,4 +42,7 @@ Commands: -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]' + Forward: +# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.0]' + Turn: +# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.4]' diff --git a/explorer_configuration.launch b/explorer_configuration.launch index 71d23bd..5aadc57 100644 --- a/explorer_configuration.launch +++ b/explorer_configuration.launch @@ -4,7 +4,7 @@ - + diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index e0da2ac..f39c9c4 100755 --- a/scripts/robo_explorer.py +++ b/scripts/robo_explorer.py @@ -27,9 +27,16 @@ class RoboExplorer: self.y_last = 0 self.alpha_last = 0 - self.enable_ultrasonic_laser = int(rospy.get_param('~ultrasonic_laser', "1")) + # fake laser scan with ultra sonic range finder + self.enable_ultrasonic_laser = bool(rospy.get_param('~ultrasonic_laser', "True")) + # Distance between both wheels in meter (18.8cm) self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.188")) + # Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255")) + # Speed to PWM equation gradiant (The m in pwm = speed*m+b) + self.speed_gradiant = float(rospy.get_param('~speed_gradiant', "64.3")) + # Speed to PWM equation constant (The b in pwm = speed*m+b) + self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7")) self.pub_motor = rospy.Publisher("ft/set_motor", Motor) if self.enable_ultrasonic_laser: @@ -156,14 +163,14 @@ class RoboExplorer: # handle translation speed_l = 0 wish_speed_left = trans - speed_offset - if abs(wish_speed_left) > 1.7/64.3: - speed_l = 64.3*abs(wish_speed_left) - 1.7 + if abs(wish_speed_left) > 0: + speed_l = self.speed_gradiant*abs(wish_speed_left) + self.speed_constant if wish_speed_left < 0: speed_l*=-1 speed_r = 0 wish_speed_right = trans + speed_offset - if abs(wish_speed_right) > 1.7/64.3: - speed_r = 64.3*abs(wish_speed_right) - 1.7 + if abs(wish_speed_right) > 0: + speed_r = self.speed_gradiant*abs(wish_speed_right) + self.speed_constant if wish_speed_right < 0: speed_r*=-1 @@ -173,7 +180,7 @@ 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)) + #print "Speed wanted: %.2f m/s %.2f rad/s, set: %d %d" % (trans, rot, round(speed_l), round(speed_r)) outmsg = Motor() outmsg.num = 1 -- 2.39.2