update lidar indices

SherbyRobotics · Nov 11, 2024 · a93d663 · a93d663 · MarcOlivierFecteau · Nov 16, 2024
1 parent 766cc95
commit a93d663
Showing 1 changed file with 9 additions and 9 deletions.
diff --git a/racecar_autopilot/racecar_autopilot/wall_estimator.py b/racecar_autopilot/racecar_autopilot/wall_estimator.py
@@ -44,7 +44,7 @@ def read_scan( self, scan_msg ):
         theta_data  = []
         n_good_scan = 0
 
-        for i in range(70,110):
+        for i in range(140,220):
 
             scan_is_good = (( ranges[i] > scan_msg.range_min) &
                             ( ranges[i] < scan_msg.range_max) )
@@ -83,7 +83,7 @@ def read_scan( self, scan_msg ):
         theta_data  = []
         n_good_scan = 0
 
-        for i in range(250,290):
+        for i in range(500,580):
 
             scan_is_good = (( ranges[i] > scan_msg.range_min) &
                             ( ranges[i] < scan_msg.range_max) )
@@ -126,16 +126,16 @@ def pub_estimate( self ):
 
         msg = Twist()
 
-        msg.linear.y  = self.y_estimation
-        msg.angular.z = self.theta_estimation
+        msg.linear.y  = float(self.y_estimation)
+        msg.angular.z = float(self.theta_estimation)
 
         # debug
 
-        msg.linear.x  = self.y_left
-        msg.linear.z  = self.y_right
+        msg.linear.x  = float(self.y_left)
+        msg.linear.z  = float(self.y_right)
 
-        msg.angular.x = self.theta_left
-        msg.angular.y = self.theta_right
+        msg.angular.x = float(self.theta_left)
+        msg.angular.y = float(self.theta_right)
 
 
         self.pub_y.publish( msg )
@@ -150,4 +150,4 @@ def main(args=None):
 ##############################################
 
 if __name__ == '__main__':
-    main()
+    main()