X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=663a4f17774dbab88772e094c556f047246729a9;hp=5fc2e2d53155630563bf342d12769c9d3861de27;hb=0b33908062c01bd1e6ee4b2b50229d7c83cbbb0c;hpb=8818294be6d3833647713c6db2412e742c4d34fe

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5fc2e2d..663a4f1 100755
--- 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"]
+		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"]
@@ -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.twist.twist.linear.z = 0.0
 		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)
-			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:
@@ -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)
-			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:
@@ -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)
-			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: