X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=5fc59d7dbf5dad1dfd63639fa267534032073aa4;hp=7254c1d38ad4573961862f0af7850e87872d417b;hb=d44edcac9dd285abbd1a6b2f9f82b6d15be00ff6;hpb=cc73472b4a28a4ea6a97d96621b3ca260be01098

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7254c1d..5fc59d7 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -71,8 +71,8 @@ class MoveBase:
 		self.handicap_last = (-1, -1)
 		self.pStripe = LPD8806(1, 0, 12)
 		rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-		#rospy.Subscriber("imu", Imu, self.imuReceived)
 		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
+		rospy.Subscriber("imu", Imu, self.imuReceived)
 		self.run()
 	
 	def run(self):
@@ -102,6 +102,15 @@ class MoveBase:
 	def execute_dyn_reconf(self, config, level):
 		self.bClipRangeSensor = config["range_sensor_clip"]
 		self.range_sensor_max = config["range_sensor_max"]
+		self.odom_covar_xy = config["odom_covar_xy"]
+		self.odom_covar_angle = config["odom_covar_angle"]
+		self.pitch_handicap_enable = config["pitch_handicap_enable"]
+		self.pitch_handicap_limit = config["pitch_handicap_limit"]
+		self.pitch_handicap_strength = config["pitch_handicap_strength"]
+
+		if not self.pitch_handicap_enable:
+			self.set_motor_handicap(0, 0)
+
 		return config
 
 	def set_motor_handicap(self, front, aft): # percent
@@ -112,15 +121,16 @@ class MoveBase:
 			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 = (100.0/60)*abs(pitch)*180/pi
-			self.set_motor_handicap(int(val), 0)
-		elif pitch < -30*pi/180:
-			val = (100.0/60)*abs(pitch)*180/pi
-			self.set_motor_handicap(0, int(val))
-		else:
-			self.set_motor_handicap(0, 0)
+		if self.pitch_handicap_enable:
+			(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+			if pitch > self.pitch_handicap_limit*pi/180:
+				val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
+				self.set_motor_handicap(int(val), 0)
+			elif pitch < -self.pitch_handicap_limit*pi/180:
+				val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
+				self.set_motor_handicap(0, int(val))
+			else:
+				self.set_motor_handicap(0, 0)
 
 	def get_reset(self):
 		reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -212,24 +222,19 @@ 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] = 0.03 # rotation about Z axis
+		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[35] = self.odom_covar_angle # rotation about Z axis
 
 		# set the velocity
 		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] = 0.03 # rotation about Z axis
+		odom.twist.covariance = odom.pose.covariance
 
 		# publish the message
 		self.pub_odom.publish(odom)