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Added odom_linear_scale_correction and odom_angular_scale_correction parameters to base_controller

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This commit is contained in:
Patrick Goebel 2016-03-27 07:14:12 -07:00
parent cc5fa475b3
commit 1bb6bb8f52
1 changed files with 4 additions and 2 deletions
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6
ros_arduino_python/src/ros_arduino_python/base_controller.py
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@ -36,6 +36,8 @@ class BaseController:
self.base_frame = base_frame
self.rate = float(rospy.get_param("~base_controller_rate", 10))
self.timeout = rospy.get_param("~base_controller_timeout", 1.0)
self.odom_linear_scale_correction = rospy.get_param("~odom_linear_scale_correction", 1.0)
self.odom_angular_scale_correction = rospy.get_param("~odom_angular_scale_correction", 1.0)
self.stopped = False
pid_params = dict()
@ -142,8 +144,8 @@ class BaseController:
self.enc_right = right_enc
self.enc_left = left_enc
dxy_ave = (dright + dleft) / 2.0
dth = (dright - dleft) / self.wheel_track
dxy_ave = self.odom_linear_scale_correction * (dright + dleft) / 2.0
dth = self.odom_angular_scale_correction * (dright - dleft) / self.wheel_track
vxy = dxy_ave / dt
vth = dth / dt