From 2c8d926ce5b6a2ad7adf668b1ead7345123ba69a Mon Sep 17 00:00:00 2001 From: Your Name Date: Mon, 10 Jul 2023 16:23:45 +0200 Subject: [PATCH] local changes --- src/dcaitirobot/config/slam.yml | 1 + src/dcaitirobot/dcaitirobot/twist.py | 4 ++-- src/dcaitirobot/launch/frames.gv | 25 ++++++++++--------------- src/dcaitirobot/launch/frames.pdf | Bin 13847 -> 12631 bytes src/dcaitirobot/launch/launch_slam.py | 8 +++++++- src/dcaitirobot/setup.py | 3 ++- 6 files changed, 22 insertions(+), 19 deletions(-) diff --git a/src/dcaitirobot/config/slam.yml b/src/dcaitirobot/config/slam.yml index 6c5c8df..ab9e374 100644 --- a/src/dcaitirobot/config/slam.yml +++ b/src/dcaitirobot/config/slam.yml @@ -3,3 +3,4 @@ slam_toolbox: base_frame: base_link map_update_interval: 1.0 scan_topic: /scan_no_nan + odom_topic: /odom_scaled diff --git a/src/dcaitirobot/dcaitirobot/twist.py b/src/dcaitirobot/dcaitirobot/twist.py index 5cbcbbb..a0ce80c 100644 --- a/src/dcaitirobot/dcaitirobot/twist.py +++ b/src/dcaitirobot/dcaitirobot/twist.py @@ -7,8 +7,8 @@ from sensor_msgs.msg import Joy import numpy as np -SCALE_LINEAR_VELOCITY = 0.1 -SCALE_ANGULAR_VELOCITY = 0.1 +SCALE_LINEAR_VELOCITY = 0.2 +SCALE_ANGULAR_VELOCITY = 0.7 PUBLISH_FREQUENCY_HZ = 30 SMOOTH_WEIGHTS = np.array([1, 2, 4, 10, 20]) diff --git a/src/dcaitirobot/launch/frames.gv b/src/dcaitirobot/launch/frames.gv index 85c41d0..3a20282 100644 --- a/src/dcaitirobot/launch/frames.gv +++ b/src/dcaitirobot/launch/frames.gv @@ -1,19 +1,14 @@ digraph G { -"odom" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 29.645\nBuffer length: 4.284\nMost recent transform: 109.56\nOldest transform: 105.276\n"]; -"base_footprint" -> "base_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"camera_link" -> "camera_depth_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"base_link" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"camera_depth_frame" -> "camera_depth_optical_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"camera_link" -> "camera_rgb_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"camera_rgb_frame" -> "camera_rgb_optical_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"base_link" -> "caster_back_left_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"base_link" -> "caster_back_right_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"base_link" -> "imu_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"base_link" -> "base_scan"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"base_link" -> "wheel_left_link"[label=" Broadcaster: default_authority\nAverage rate: 17.882\nBuffer length: 4.25\nMost recent transform: 109.56\nOldest transform: 105.31\n"]; -"base_link" -> "wheel_right_link"[label=" Broadcaster: default_authority\nAverage rate: 17.882\nBuffer length: 4.25\nMost recent transform: 109.56\nOldest transform: 105.31\n"]; +"base_link" -> "velodyne"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"chassis" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "chassis"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"camera_link" -> "camera_link_optical"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"chassis" -> "caster_wheel_back"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"chassis" -> "caster_wheel_front"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"chassis" -> "laser_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; edge [style=invis]; subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; -"Recorded at time: 1688900208.2025208"[ shape=plaintext ] ; -}->"odom"; +"Recorded at time: 1688907915.1191485"[ shape=plaintext ] ; +}->"base_link"; } \ No newline at end of file diff --git a/src/dcaitirobot/launch/frames.pdf b/src/dcaitirobot/launch/frames.pdf index f9a1b29ed2eb94c0fcf5711994e3fd1868edb579..f5f7757692819a51c01a4fc31c59edb9a22a9186 100644 GIT binary patch delta 11016 zcmZX)Wl$Up%ry$do#GUCw?!9Oic4X!Qd|lYclX8J7uVwM?(SaPio3fN_@4XCy)$>- zH@`9`naTNcGD#*W)=NflijZ{0*mXXfkjoc*Vfj$gCzXFUY={8}pWq`+4hi6g3W|rh z<)*C{V~qDUFLk6M5;iup5YT9y%;7D{8P#hwX(`lIjFWmHLXkN{k*lH@AH-1&K95-U zgOw_Fn^<5U$+e}YkK*lDio{vz4UEMSyF^8~6de3t`&nvCC2mOf)ezII4W0WJ)0%>4 zu9y;+c_~8f({yoWPn&NJO(hw{+mWwXE5yGRCf}~!p4J+ictGT!t~Bc}m&JNSn~FkT 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