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Upgrade code to ROS Noetic #26

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Upgrade code to ROS Noetic #26

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2 changes: 1 addition & 1 deletion src/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
1 change: 0 additions & 1 deletion src/kart_2dnav/CMakeLists.txt
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Expand Up @@ -21,7 +21,6 @@ find_package(catkin REQUIRED COMPONENTS
global_planner
move_base
teb_local_planner
teb_local_planner_tutorials
#sbg_driver
#sbg_to_imu
#imu_filter_madgwick
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1 change: 0 additions & 1 deletion src/kart_2dnav/package.xml
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Expand Up @@ -63,7 +63,6 @@
<depend>global_planner</depend>
<depend>move_base</depend>
<depend>teb_local_planner</depend>
<depend>teb_local_planner_tutorials</depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
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8 changes: 4 additions & 4 deletions src/slam_mode_goal/src/slam_mode_goal/slam_mode_goal.py
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Expand Up @@ -186,7 +186,7 @@ def weighted_resultant_vector(laserscan):
# Iterate through left half of the lazerscans and grab corresponding
# right lazerscan for each left one.
theta_tot = 0
for i in range(len(ranges) / 2):
for i in range(len(ranges) // 2):
l_dist = ranges[i]
l_ang = theta_arr[i]
r_dist = ranges[-1 - i]
Expand All @@ -200,7 +200,7 @@ def weighted_resultant_vector(laserscan):
# Add the theta of res vector
theta_tot += math.atan(y / x)

theta = theta_tot / (len(ranges) / 2)
theta = theta_tot / (len(ranges) // 2)

# If the vector (x_pos, y_pos) is too close to a wall, then
# decrease magnitude of vector and give more weight to the y position.
Expand All @@ -209,13 +209,13 @@ def weighted_resultant_vector(laserscan):

## Experimentally determining this based on simulation. Will want to get do this more thoroughly later
thresh_dist = 2.1 * KART_LENGTH
front_dist_from_wall = ranges[len(ranges) / 2] - KART_LENGTH
front_dist_from_wall = ranges[len(ranges) // 2] - KART_LENGTH

if front_dist_from_wall < thresh_dist:
x_pos *= 0.35
y_pos *= 0.85

print "theta: {}, x: {}, y: {}".format(theta, x_pos, y_pos)
print("theta: {}, x: {}, y: {}".format(theta, x_pos, y_pos))

# Orientation of kart at goal should be the resultant vect angle (may not be the best)
orient = math.atan(y_pos / x_pos)
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