Sakthi Sivaraman / cse190

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Commit 5a87d0bf3d127b1f1d6db76aa17e029f0c636086

Authored by Sakthi Sivaraman
1 parent 0e0d30fe60
Exists in master

Updated the laser scan error topic & sigma hit values

Showing 8 changed files with 10 additions and 11 deletions Side-by-side Diff

PA2_final2/launch/solution_python.launch View file @ 5a87d0b
... ... @@ -5,7 +5,6 @@
5 5 <node pkg="cse_190_assi_2" type="robot.py" name="particle_filter_localization" output="screen" required="true"/>
6 6 <node pkg="stage_ros" type="stageros" name="stageros" args="$(arg world_file)">
7 7 <param name="base_watchdog_timeout" value="1000"/>
8   - <remap from="base_scan" to="original_scan"/>
9 8 </node>
10 9 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
11 10 <param name="frame_id" value="/map"/>
PA2_final2/scripts/basetruth.json View file @ 5a87d0b
1 1 {
2   -"basetruth" : [21.49999999999843, 179.00000000000514]
  2 +"basetruth" : [20.499999999998476, 181.50000000000512]
3 3 }
PA2_final2/scripts/configuration.json View file @ 5a87d0b
... ... @@ -29,7 +29,7 @@
29 29  
30 30 "laser_z_hit": 0.80,
31 31 "laser_z_rand": 0.05,
32   - "laser_sigma_hit": 1,
  32 + "laser_sigma_hit": 2,
33 33  
34 34 "num_particles": 800
35 35  
PA2_final2/scripts/laser_model.py View file @ 5a87d0b
... ... @@ -13,8 +13,8 @@
13 13 self.config = read_config()
14 14 r.seed(self.config['seed'])
15 15 self.laser_sigma_hit = self.config['laser_sigma_hit']
16   - rospy.Subscriber('original_scan', LaserScan, self.scan_callback)
17   - self.base_scan_pub = rospy.Publisher('base_scan', LaserScan, queue_size = 10)
  16 + rospy.Subscriber('base_scan', LaserScan, self.scan_callback)
  17 + self.base_scan_pub = rospy.Publisher('base_scan_with_error', LaserScan, queue_size = 10)
18 18 rospy.spin()
19 19  
20 20 def scan_callback(self, laser_scan):
PA2_final2/scripts/max_limit_results.json View file @ 5a87d0b
1 1 {
2   -"max_limit_percentage" : 54.125
  2 +"max_limit_percentage" : 93.0
3 3 }
PA2_final2/scripts/metric_results.json View file @ 5a87d0b
1 1 {
2   -"metric" : [2.0]
  2 +"metric" : [2.0, 1.3329965210259298, 1.3524277809430547, 5.67480298639132, 1.7129327996127621, 1.4113776666588689, 1.55791836186564, 1.6071920760666254, 6.422760006675429, 1.222092832701178, 1.3546659989593097, 1.1779566194453852, 1.3549477111545372, 3.6376927783191038]
3 3 }
PA2_final2/scripts/std_dev_results.json View file @ 5a87d0b
1 1 {
2   -"std_dev_x" : [74.00152718365908]
  2 +"std_dev_x" : [74.00152718365908, 168.19265919427644, 156.75321292232098, 14.25210715558664, 23.755008853600213, 20.76008592324269, 29.87051806718816, 34.15247391382583, 14.683807001613792, 134.6510298856458, 134.70718948172444, 131.03318904227456, 101.08583380233551, 56.51899120768664]
3 3 }
4 4 {
5   -"std_dev_y" : [58.24639046736343]
  5 +"std_dev_y" : [58.24639046736343, 19.913250260022238, 19.755215866467232, 10.825145009000133, 103.76262780172323, 131.51349357344412, 103.24116406618691, 109.49961990007104, 7.235580303428893, 27.62293439411005, 50.229051396888764, 21.791751958196162, 18.369504188996693, 37.761052779717]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.8512396722819926]
  8 +"std_dev_angle" : [1.8512396722819926, 2.3826745019992353, 2.447564954166869, 4.4846251574494245, 2.235191731012716, 2.629406064588005, 2.715720456152432, 2.354803413161974, 2.7639473560883014, 3.4476123370080325, 2.646080101341413, 3.947327137771499, 4.223404674334258, 0.8219637194439576]
9 9 }
PA2_final2/scripts/time_results.json View file @ 5a87d0b
1 1 {
2   -"time_elapsed" : [0.04576059803366661]
  2 +"time_elapsed" : [0.05047261714935303, 2.7408176362514496, 3.0183494351804256, 4.294765986502171, 5.245723482221365, 5.385457068681717, 6.489630252122879, 6.843247450888157, 7.644942902028561, 8.257779333740473, 8.775725219398737, 9.414475850760937, 9.543335102498531, 10.304801121354103]
3 3 }