From: Erik Andresen Date: Sun, 26 Mar 2017 10:09:04 +0000 (+0200) Subject: inverse value for pitch_handicap_strength X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=69de58605413a7ab335413874ff9dd89f2b6e21a inverse value for pitch_handicap_strength --- diff --git a/config/wt_node.cfg b/config/wt_node.cfg index dbd9c1b..675735a 100755 --- a/config/wt_node.cfg +++ b/config/wt_node.cfg @@ -10,6 +10,6 @@ gen.add("odom_covar_xy", double_t, 0, "Odometry covariance: translation", 1e-2, gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832) gen.add("pitch_handicap_enable",bool_t, 0, "Enable motor handicap on pitch", True) gen.add("pitch_handicap_limit", double_t, 0, "Pitch handicap limit (degree)", 30, 0, 90) -gen.add("pitch_handicap_strength",double_t, 0, "Pitch handicap limit strength", 60, 0, 100) +gen.add("pitch_handicap_strength",double_t, 0, "Pitch handicap limit strength", 40, 0, 100) exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper")) diff --git a/scripts/wt_node.py b/scripts/wt_node.py index 5fc59d7..781acfa 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -106,7 +106,7 @@ class MoveBase: 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"] + self.pitch_handicap_strength = 100-config["pitch_handicap_strength"] if not self.pitch_handicap_enable: self.set_motor_handicap(0, 0)