From: Erik Andresen <erik@vontaene.de>
Date: Wed, 6 Sep 2017 16:09:48 +0000 (+0200)
Subject: Makre range sensor fov configureable
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=0338dec7b42d0454df844491f9404df5207e1382

Makre range sensor fov configureable
---

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index aad0d54..fe8798c 100755
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -6,6 +6,7 @@ gen = ParameterGenerator()
 
 gen.add("range_sensor_clip",	bool_t,		0, "Clip range sensor values to max range", True)
 gen.add("range_sensor_max",	double_t,	0, "Range sensor max range", 0.5, 0.04, 4)
+gen.add("range_sensor_fov",	double_t,	0, "Range sensor field of view (deg)", 30, 1, 90)
 gen.add("odom_covar_xy",	double_t,	0, "Odometry covariance: translation", 1e-3, 1e-6, 1)
 gen.add("odom_covar_angle",	double_t,	0, "Odometry covariance: rotation", 1.00, 1e-6, 6.2832)
 gen.add("rollover_protect",	bool_t,		0, "Enable motor rollover protection on pitch", True)
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5fc2e2d..ab58496 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"]
@@ -335,7 +336,7 @@ 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 +345,7 @@ 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 +354,7 @@ 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: