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Pid_Right_silvia.py
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Pid_Right_silvia.py
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#! /usr/bin/env python
import rospy
from ackermann_msgs.msg import AckermannDriveStamped
from sensor_msgs.msg import LaserScan
import time
t = rospy.Time(0)
class SafetyControllerNode:
def __init__(self):
self.pub = rospy.Publisher("/vesc/ackermann_cmd_mux/input/teleop", AckermannDriveStamped, queue_size=1)
self.counter = 0
self.Pre()
rospy.Subscriber("/scan", LaserScan, self.laser_callback, queue_size=10)
def Pre(self):
print t.to_sec()
for repeat in range(0,1899):
drivemsg = AckermannDriveStamped()
drivemsg.drive.speed = .5
drivemsg.drive.steering_angle = 1
print drivemsg
self.pub.publish(drivemsg)
print "done running pre set"
def laser_callback(self, msg):
self.counter += 1
self.counter %= 4
if self.counter != 0:
return
left = 900 #45 degrees
right = 180 #default side
avg = 0
for i in range(0, 10):
avg += msg.ranges[left - 5 + i]
avg /= 10
drivemsg = AckermannDriveStamped()
drivemsg.drive.speed = .5
if avg < 0.5:
drivemsg.drive.steering_angle = 0.1
elif avg > 0.6:
drivemsg.drive.steering_angle = -0.1
else:
drivemsg.drive.steering_angle = 0
self.pub.publish(drivemsg)
rospy.loginfo("center range(s): %f", avg)
if __name__ == "__main__":
rospy.init_node("SafetyControllerNode")
node = SafetyControllerNode()
rospy.spin()