X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=eb9f8bd9bb138bf74c6ec771d7850b5fa77706c3;hp=72c04123a4428cf4bd4c7e362ff7a0ed6cc2c806;hb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3;hpb=cacb82ac8403db8d5eae119c12faf751ebbe0e71

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 72c0412..eb9f8bd 100755
--- 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)