avr: calibration from umbmark

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 72c04123a4428cf4bd4c7e362ff7a0ed6cc2c806..eb9f8bd9bb138bf74c6ec771d7850b5fa77706c3 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -39,15 +39,18 @@ class MoveBase:
                rate = rospy.Rate(20.0)
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
+               i = 0
                while not rospy.is_shutdown():
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
                        self.get_tle_err()
                        self.get_odom()
                        self.get_voltage()
-                       self.get_dist_forward()
-                       self.get_dist_backward()
-                       self.get_dist_left()
-                       self.get_dist_right()
+                       if i % 2:
+                               self.get_dist_forward()
+                               self.get_dist_backward()
+                               self.get_dist_left()
+                               self.get_dist_right()
+                       i+=1
                        rate.sleep()
 
        def set_motor_handicap(self, front, aft): # percent
@@ -148,7 +151,7 @@ class MoveBase:
                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
+               odom.pose.covariance[35] = 0.03 # rotation about Z axis
 
                # set the velocity
                odom.child_frame_id = "base_footprint"
@@ -160,7 +163,7 @@ class MoveBase:
                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
+               odom.twist.covariance[35] = 0.03 # rotation about Z axis
 
                # publish the message
                self.pub_odom.publish(odom)