From 2fbefb219b469e30f959187f01a615518c917eaa Mon Sep 17 00:00:00 2001 From: David St-Onge Date: Thu, 31 Aug 2017 16:17:27 -0400 Subject: [PATCH] graph tuning and sdk topic fix --- buzz_scripts/graphform.bzz | 6 +++--- src/roscontroller.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/buzz_scripts/graphform.bzz b/buzz_scripts/graphform.bzz index 2bcdd30..c395c11 100644 --- a/buzz_scripts/graphform.bzz +++ b/buzz_scripts/graphform.bzz @@ -17,7 +17,7 @@ ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER ROOT_ID = 2 # max velocity in cm/step -ROBOT_MAXVEL = 250.0 +ROBOT_MAXVEL = 150.0 # # Global variables @@ -776,8 +776,8 @@ function init() { # m_unResponseTimeThreshold=10 m_unLabelSearchWaitTime=10 - m_fTargetDistanceTolerance=50 - m_fTargetAngleTolerance=0.1 + m_fTargetDistanceTolerance=150 + m_fTargetAngleTolerance=0.2 m_unJoiningLostPeriod=100 # diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index 0ddfd74..55ac7c1 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -1092,7 +1092,7 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr &msg) { gps_rb(nei_pos, cvt_neighbours_pos_payload); /*Extract robot id of the neighbour*/ uint16_t *out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + 3)); - //ROS_WARN("RAB of %i: %f, %f", (int)out[1], cvt_neighbours_pos_payload[0], cvt_neighbours_pos_payload[1]); + ROS_WARN("RAB of %i: %f, %f", (int)out[1], cvt_neighbours_pos_payload[0], cvt_neighbours_pos_payload[1]); /*pass neighbour position to local maintaner*/ buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0], cvt_neighbours_pos_payload[1],