From d5421adc6fb7c85852a3b90b993742459ce03466 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 1 Jun 2017 21:02:58 +0200
Subject: [PATCH] fixes third sonar integration

---
 config/analyzers.yaml        | 5 -----
 scripts/wt_node.py           | 8 ++++----
 urdf/wild_thumper.urdf.xacro | 4 ++--
 3 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/config/analyzers.yaml b/config/analyzers.yaml
index 76d0bc0..8215e23 100644
--- a/config/analyzers.yaml
+++ b/config/analyzers.yaml
@@ -13,8 +13,3 @@ analyzers:
                 type: diagnostic_aggregator/GenericAnalyzer
                 path: Voltage
                 startswith: 'Voltage'
-        Razor9DofImu:
-                type: diagnostic_aggregator/GenericAnalyzer
-                path: 'Imu'
-                timeout: 5.0
-                contains: ['Razor_Imu']
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index bbda848..fcb20be 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -96,11 +96,11 @@ class MoveBase:
 				ir_count+=1
 			else:
 				self.get_dist_right()
-				ir_count+=1
+				ir_count=0
 
 			if sonar_count == 0:
 				self.get_dist_forward_left()
-				sonar_count=0
+				sonar_count+=1
 			elif sonar_count == 1:
 				self.get_dist_backward()
 				sonar_count+=1
@@ -312,7 +312,7 @@ 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, "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, 30)
 			self.start_dist_srf(0x5) # get next value
 
 	def get_dist_backward(self):
@@ -324,7 +324,7 @@ 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, "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, 30)
 			self.start_dist_srf(0x9) # get next value
 	
 	def led_stripe_received(self, msg):
diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 3cc4922..15beab2 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -137,13 +137,13 @@
 	<joint name="sonar_forward_left_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_forward_left"/>
-		<origin xyz="0.115 -0.04 -0.012" rpy="0 0 0"/>
+		<origin xyz="0.115 0.04 -0.012" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="sonar_forward_right_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_forward_right"/>
-		<origin xyz="0.115 0.04 -0.012" rpy="0 0 0"/>
+		<origin xyz="0.115 -0.04 -0.012" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="sonar_backward_joint" type="fixed">
-- 
2.39.2