From 67ce0bb517f49851a8421981b074d472c8dc9624 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Mon, 23 Jan 2017 13:25:52 +0100
Subject: [PATCH] configuration of odometry covariance via dynamic reconfigure

---
 config/wt_node.cfg     |  2 ++
 launch/3dsensor.launch |  1 +
 scripts/wt_node.py     | 21 +++++++++------------
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index 45ad4eb..5983622 100755
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -6,5 +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, 0.4, 6)
+gen.add("odom_covar_xy",	double_t,	0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
+gen.add("odom_covar_angle",	double_t,	0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))
diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 116a631..4227fe9 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -4,6 +4,7 @@
 		<arg name="depth_registration" value="true" />
 	</include>
 	<param name="/camera/driver/depth_mode" value="11" />
+	<param name="/camera/driver/data_skip" value="1" />
 
 	<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
 		<remap from="/camera/image" to="/camera/depth/image"/>
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7254c1d..2aa98a2 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -102,6 +102,8 @@ 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"]
 		return config
 
 	def set_motor_handicap(self, front, aft): # percent
@@ -212,24 +214,19 @@ 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)
-- 
2.39.2