fixes third sonar integration
[ros_wild_thumper.git] / scripts / wt_node.py
index bbda8488780341b9167365e8b77c5cad3477cc18..fcb20be43f2a8fd1795b19a66590a7c79ea70873 100755 (executable)
@@ -96,11 +96,11 @@ class MoveBase:
                                ir_count+=1
                        else:
                                self.get_dist_right()
-                               ir_count+=1
+                               ir_count=0
 
                        if sonar_count == 0:
                                self.get_dist_forward_left()
-                               sonar_count=0
+                               sonar_count+=1
                        elif sonar_count == 1:
                                self.get_dist_backward()
                                sonar_count+=1
@@ -312,7 +312,7 @@ class MoveBase:
        def get_dist_forward_left(self):
                if self.pub_range_fwd_left.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)
-                       self.send_range(self.pub_range_fwd, "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, 30)
                        self.start_dist_srf(0x5) # get next value
 
        def get_dist_backward(self):
@@ -324,7 +324,7 @@ class MoveBase:
        def get_dist_forward_right(self):
                if self.pub_range_fwd_right.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x19)
-                       self.send_range(self.pub_range_fwd, "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, 30)
                        self.start_dist_srf(0x9) # get next value
        
        def led_stripe_received(self, msg):