From ffe8ec42bc41d93a9129b6f11c641698d24b27ab Mon Sep 17 00:00:00 2001
From: erik <erik@ROS.(none)>
Date: Tue, 27 Aug 2013 13:29:04 +0200
Subject: [PATCH] added readme

---
 README.txt                        | 23 +++++++++++++++++++++++
 config/costmap_common_params.yaml |  4 ++--
 scripts/robo_explorer.py          | 13 ++++++-------
 3 files changed, 31 insertions(+), 9 deletions(-)
 create mode 100644 README.txt

diff --git a/README.txt b/README.txt
new file mode 100644
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 0224ad9..ca84cc0 100644
--- 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 693a8d0..cfc23fa 100755
--- 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)
-- 
2.39.2