From ba4ed192fc7db30bcd3115dbeee6e473a2dd5b30 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 14 Aug 2015 03:22:52 +0200 Subject: [PATCH] odometry tuning --- cfg/razor.yaml | 4 ++-- launch/wild_thumper.launch | 6 ++++-- scripts/forward_tty.sh | 3 +++ scripts/move_base.py | 21 +++++++++++++-------- 4 files changed, 22 insertions(+), 12 deletions(-) create mode 100755 scripts/forward_tty.sh diff --git a/cfg/razor.yaml b/cfg/razor.yaml index 65d6d44..264e6b6 100644 --- a/cfg/razor.yaml +++ b/cfg/razor.yaml @@ -23,8 +23,8 @@ magn_z_max: 596 # extended calibration calibration_magn_use_extended: true -magn_ellipsoid_center: [164.907, 212.010, 16.4033] -magn_ellipsoid_transform: [[0.977989, 0.00268088, 0.0115993], [0.00268088, 0.974660, 0.0151645], [0.0115993, 0.0151645, 0.982901]] +magn_ellipsoid_center: [192.863, 93.3924, -413.187] +magn_ellipsoid_transform: [[0.969535, 0.00462330, 0.0198726], [0.00462330, 0.964774, 0.0291415], [0.0198726, 0.0291415, 0.957085]] # AHRS to robot calibration imu_yaw_calibration: 0.0 diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch index cc2db13..fbd17ec 100644 --- a/launch/wild_thumper.launch +++ b/launch/wild_thumper.launch @@ -8,12 +8,14 @@ + + + + - - diff --git a/scripts/forward_tty.sh b/scripts/forward_tty.sh new file mode 100755 index 0000000..daf6040 --- /dev/null +++ b/scripts/forward_tty.sh @@ -0,0 +1,3 @@ +#!/bin/sh + +socat /dev/ttyUSB0,b57600 TCP4-LISTEN:10001,reuseaddr diff --git a/scripts/move_base.py b/scripts/move_base.py index c4da5d0..09f823b 100755 --- a/scripts/move_base.py +++ b/scripts/move_base.py @@ -18,7 +18,11 @@ class MoveBase: rospy.init_node('wild_thumper_move_base') rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) rospy.Subscriber("imu", Imu, self.imuReceived) - #self.tf_broadcaster = tf.broadcaster.TransformBroadcaster() + enable_odom_tf = rospy.get_param("~enable_odom_tf", True) + if enable_odom_tf: + self.tf_broadcaster = tf.broadcaster.TransformBroadcaster() + else: + self.tf_broadcaster = None self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16) self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16) self.set_speed(0, 0) @@ -119,7 +123,8 @@ class MoveBase: odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle) # first, we'll publish the transform over tf - #self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom") + if self.tf_broadcaster is not None: + self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom") # next, we'll publish the odometry message over ROS odom = Odometry() @@ -136,9 +141,9 @@ class MoveBase: 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] = 1e-3 # z - odom.pose.covariance[21] = 0.1 # rotation about X axis - odom.pose.covariance[28] = 0.1 # rotation about Y axis + 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 # set the velocity @@ -148,9 +153,9 @@ class MoveBase: 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] = 1e-3 # z - odom.twist.covariance[21] = 0.1 # rotation about X axis - odom.twist.covariance[28] = 0.1 # rotation about Y axis + 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 # publish the message -- 2.39.2