X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=1cf9d8d49fc42608ca1db0b1a0ed69873a95e4ef;hp=bbda8488780341b9167365e8b77c5cad3477cc18;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=5b40ea26ccc4ab0276bd7dd37ab8cb8274299fe8

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index bbda848..1cf9d8d 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -96,16 +96,19 @@ 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
+				self.update_dist_backward()
+				sonar_count+=1
 			elif sonar_count == 1:
 				self.get_dist_backward()
+				self.update_dist_forward_right()
 				sonar_count+=1
 			elif sonar_count == 2:
 				self.get_dist_forward_right()
+				self.update_dist_forward_left()
 				sonar_count=0
 
 			if self.cmd_vel != None:
@@ -234,9 +237,9 @@ class MoveBase:
 		odom.pose.pose.orientation.w = odom_quat[3]
 		odom.pose.covariance[0] = self.odom_covar_xy # x
 		odom.pose.covariance[7] = self.odom_covar_xy # y
-		odom.pose.covariance[14] = 99999 # z
-		odom.pose.covariance[21] = 99999 # rotation about X axis
-		odom.pose.covariance[28] = 99999 # rotation about Y axis
+		odom.pose.covariance[14] = self.odom_covar_xy # z
+		odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+		odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
 		odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
 		# set the velocity
@@ -312,20 +315,29 @@ 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.start_dist_srf(0x5) # get next value
+			self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+
+	def update_dist_forward_left(self):
+		if self.pub_range_fwd_left.get_num_connections() > 0:
+			self.start_dist_srf(0x5)
 
 	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.start_dist_srf(0x7) # get next value
+
+	def update_dist_backward(self):
+		if self.pub_range_bwd.get_num_connections() > 0:
+			self.start_dist_srf(0x7)
 
 	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.start_dist_srf(0x9) # get next value
+			self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+
+	def update_dist_forward_right(self):
+		if self.pub_range_fwd_right.get_num_connections() > 0:
+			self.start_dist_srf(0xb)
 	
 	def led_stripe_received(self, msg):
 		for led in msg.leds: