From 80ed38124de9af6f6114fa8d24a9a44dbcc52ae7 Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Fri, 13 Jan 2017 18:00:49 +0000
Subject: [PATCH] =?UTF-8?q?ROS=20tools=20=3D=20implementada=20forma=20m?=
=?UTF-8?q?=C3=A1s=20suabe=20de=20hacer=20los=20giros=20al=20rededor=20de?=
=?UTF-8?q?=20persona=20al=20pasar=20por=20obstaculo.=20(falta=20arreglar?=
=?UTF-8?q?=20angulos=20para=20esos=20casos)?=
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---
launch/fake_localization.launch | 4 ++--
src/fake_laser_gen_alg_node.cpp | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/launch/fake_localization.launch b/launch/fake_localization.launch
index cdfc056..d6eac8e 100644
--- a/launch/fake_localization.launch
+++ b/launch/fake_localization.launch
@@ -12,8 +12,8 @@
<param name="base_frame_id" value="/$(optenv ROBOT tibi)/base_footprint" />
<!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
<param name="delta_x" value="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=2.0 ; delta_yaw=0.0 -->
- <param name="delta_y" value="-18.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-18.0 ; delta_yaw=1.57 -->
- <param name="delta_yaw" value="1.57" />
+ <param name="delta_y" value="2.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-18.0 ; delta_yaw=1.57 -->
+ <param name="delta_yaw" value="0.0" />
<remap from="/odom" to="/$(optenv ROBOT tibi)/segway/odom"/>
<remap from="base_pose_ground_truth" to="/$(optenv ROBOT tibi)/segway/odom"/>
</node>
diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp
index d1ca40c..f46641c 100644
--- a/src/fake_laser_gen_alg_node.cpp
+++ b/src/fake_laser_gen_alg_node.cpp
@@ -88,8 +88,8 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
LaserScan_msg_.ranges.clear();
LaserScan_msg_.ranges.resize(1436,59.9);
//laser_mode_=FakeLaserGenAlgNode::n_obstacles5; //caso estrechez en medio del camino. Muy estrecho!
- //laser_mode_=FakeLaserGenAlgNode::n_obstacles3; //caso estrechez en medio del camino!
- laser_mode_=FakeLaserGenAlgNode::scene_3; // caso pasillo, esquina. (Ancho)
+ laser_mode_=FakeLaserGenAlgNode::n_obstacles3; //caso estrechez en medio del camino!
+ //laser_mode_=FakeLaserGenAlgNode::scene_3; // caso pasillo, esquina. (Ancho)
//laser_mode_=FakeLaserGenAlgNode::scene_2; // Estrecho! caso pasillo, esquina.
//laser_mode_=FakeLaserGenAlgNode::scene_4; // pasillo esquina, medio ancho, medio estrecho!
--
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