odometry tuning

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 6c066f391f9b50a70c24f2a77a8ac335894f263b..09f823b576dd790073b949f52c784ed85ad5dc3f 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -18,12 +18,17 @@ class MoveBase:
                rospy.init_node('wild_thumper_move_base')
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                rospy.Subscriber("imu", Imu, self.imuReceived)
-               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+               enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
+               if enable_odom_tf:
+                       self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+               else:
+                       self.tf_broadcaster = None
                self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
                self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
+               self.handicap_last = (-1, -1)
                self.run()
        
        def run(self):
@@ -42,18 +47,18 @@ class MoveBase:
                        rate.sleep()
 
        def set_motor_handicap(self, front, aft): # percent
-               i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+               if self.handicap_last != (front, aft):
+                       i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+                       self.handicap_last = (front, aft)
 
        def imuReceived(self, msg):
                (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
                if pitch > 30*pi/180:
-                       val = (100/90)*abs(pitch)*180/pi
-                       print "aft handicap", val
-                       self.set_motor_handicap(0, val)
+                       val = (100.0/65)*abs(pitch)*180/pi
+                       self.set_motor_handicap(0, int(val))
                elif pitch < -30*pi/180:
-                       val = (100/90)*abs(pitch)*180/pi
-                       print "front handicap", val
-                       self.set_motor_handicap(val, 0)
+                       val = (100.0/65)*abs(pitch)*180/pi
+                       self.set_motor_handicap(int(val), 0)
                else:
                        self.set_motor_handicap(0, 0)
 
@@ -118,7 +123,8 @@ class MoveBase:
                odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 
                # first, we'll publish the transform over tf
-               self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_link", "odom")
+               if self.tf_broadcaster is not None:
+                       self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
 
                # next, we'll publish the odometry message over ROS
                odom = Odometry()
@@ -133,12 +139,24 @@ class MoveBase:
                odom.pose.pose.orientation.y = odom_quat[1]
                odom.pose.pose.orientation.z = odom_quat[2]
                odom.pose.pose.orientation.w = odom_quat[3]
+               odom.pose.covariance[0] = 1e-3 # x
+               odom.pose.covariance[7] = 1e-3 # y
+               odom.pose.covariance[14] = 1e6 # z
+               odom.pose.covariance[21] = 1e6 # rotation about X axis
+               odom.pose.covariance[28] = 1e6 # rotation about Y axis
+               odom.pose.covariance[35] = 0.1 # rotation about Z axis
 
                # set the velocity
-               odom.child_frame_id = "base_link"
+               odom.child_frame_id = "base_footprint"
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0
                odom.twist.twist.angular.z = speed_rot
+               odom.twist.covariance[0] = 1e-3 # x
+               odom.twist.covariance[7] = 1e-3 # y
+               odom.twist.covariance[14] = 1e6 # z
+               odom.twist.covariance[21] = 1e6 # rotation about X axis
+               odom.twist.covariance[28] = 1e6 # rotation about Y axis
+               odom.twist.covariance[35] = 0.1 # rotation about Z axis
 
                # publish the message
                self.pub_odom.publish(odom)