Sakthi Sivaraman / cse_190_pa2

Download as
Browse Code ยป

Commit 928a50093ceb364f303d3a4d019cebec95cc7da5

Authored by Sakthi Sivaraman
1 parent a6a8ba5ffa
Exists in master

Reverted back laser_sigma_hit & original base_scan

Showing 6 changed files with 6 additions and 7 deletions Side-by-side Diff

launch/solution_python.launch View file @ 928a500
... ... @@ -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"/>
scripts/configuration.json View file @ 928a500
... ... @@ -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  
scripts/configuration1.json View file @ 928a500
... ... @@ -28,7 +28,7 @@
28 28  
29 29 "laser_z_hit": 0.80,
30 30 "laser_z_rand": 0.05,
31   - "laser_sigma_hit": 1,
  31 + "laser_sigma_hit": 2,
32 32  
33 33  
34 34 "num_particles": 800
scripts/configuration2.json View file @ 928a500
... ... @@ -20,7 +20,7 @@
20 20  
21 21 "laser_z_hit": 0.80,
22 22 "laser_z_rand": 0.05,
23   - "laser_sigma_hit": 1,
  23 + "laser_sigma_hit": 2,
24 24  
25 25  
26 26 "num_particles": 800
scripts/configuration3.json View file @ 928a500
... ... @@ -21,7 +21,7 @@
21 21  
22 22 "laser_z_hit": 0.80,
23 23 "laser_z_rand": 0.05,
24   - "laser_sigma_hit": 1,
  24 + "laser_sigma_hit": 2,
25 25  
26 26  
27 27 "num_particles": 800
scripts/laser_model.py View file @ 928a500
... ... @@ -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):