wt_node odom: Also set z velocity to 0

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5fc2e2d53155630563bf342d12769c9d3861de27..663a4f17774dbab88772e094c556f047246729a9 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -122,6 +122,7 @@ class MoveBase:
        def execute_dyn_reconf(self, config, level):
                self.bClipRangeSensor = config["range_sensor_clip"]
                self.range_sensor_max = config["range_sensor_max"]
        def execute_dyn_reconf(self, config, level):
                self.bClipRangeSensor = config["range_sensor_clip"]
                self.range_sensor_max = config["range_sensor_max"]

+               self.range_sensor_fov = config["range_sensor_fov"]

                self.odom_covar_xy = config["odom_covar_xy"]
                self.odom_covar_angle = config["odom_covar_angle"]
                self.rollover_protect = config["rollover_protect"]
                self.odom_covar_xy = config["odom_covar_xy"]
                self.odom_covar_angle = config["odom_covar_angle"]
                self.rollover_protect = config["rollover_protect"]


@@ -266,6 +267,7 @@ class MoveBase:
                odom.child_frame_id = "base_footprint"
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0
                odom.child_frame_id = "base_footprint"
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0

+               odom.twist.twist.linear.z = 0.0

                odom.twist.twist.angular.z = speed_rot
                odom.twist.covariance = odom.pose.covariance
 
                odom.twist.twist.angular.z = speed_rot
                odom.twist.covariance = odom.pose.covariance
 


@@ -335,7 +337,7 @@ class MoveBase:
        def get_dist_forward_left(self):
                if self.pub_range_fwd_left.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)
        def get_dist_forward_left(self):
                if self.pub_range_fwd_left.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)

-                       self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+                       self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)

 
        def update_dist_forward_left(self):
                if self.pub_range_fwd_left.get_num_connections() > 0:
 
        def update_dist_forward_left(self):
                if self.pub_range_fwd_left.get_num_connections() > 0:


@@ -344,7 +346,7 @@ class MoveBase:
        def get_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x17)
        def get_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x17)

-                       self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+                       self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)

 
        def update_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:
 
        def update_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:


@@ -353,7 +355,7 @@ class MoveBase:
        def get_dist_forward_right(self):
                if self.pub_range_fwd_right.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x19)
        def get_dist_forward_right(self):
                if self.pub_range_fwd_right.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x19)

-                       self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+                       self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)

 
        def update_dist_forward_right(self):
                if self.pub_range_fwd_right.get_num_connections() > 0:
 
        def update_dist_forward_right(self):
                if self.pub_range_fwd_right.get_num_connections() > 0: