[Personalrobots-commit] SF.net SVN: personalrobots:[3561] pkg/trunk

[<hsu...@us...>]

Revision: 3561
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3561&view=rev
Author:   hsujohnhsu
Date:     2008-08-25 19:20:21 +0000 (Mon, 25 Aug 2008)

Log Message:
-----------
update laser plugin to read in sigma for artificial noise via xml tags in gazebo <gaussianNoise>.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Laser.hh
    pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Laser.cc
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Laser.hh
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Laser.hh	2008-08-25 19:15:39 UTC (rev 3560)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/Ros_Laser.hh	2008-08-25 19:20:21 UTC (rev 3561)
@@ -121,6 +121,8 @@
   // FIXME: extract link name directly?
   private: std::string frameName;
 
+  private: double gaussianNoise;
+
   private: double GaussianKernel(double mu,double sigma);
 
   // A mutex to lock access to fields that are used in message callbacks

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Laser.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Laser.cc	2008-08-25 19:15:39 UTC (rev 3560)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Laser.cc	2008-08-25 19:20:21 UTC (rev 3561)
@@ -98,6 +98,7 @@
   std::cout << "================= " << this->topicName <<  std::endl;
   rosnode->advertise<std_msgs::LaserScan>(this->topicName);
   this->frameName = node->GetString("frameName","default_ros_laser",0); //read from xml file
+  this->gaussianNoise = node->GetDouble("gaussianNoise",0.0,0); //read from xml file
 }
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -221,12 +222,11 @@
       /*  point scan from laser                                      */
       /*                                                             */
       /***************************************************************/
-      double sigma = 0.002;  // 2 milimeter noise
       if (r == maxRange)
         this->laserMsg.ranges[i]        = r; // no noise if at max range
       else
-        this->laserMsg.ranges[i]        = r + this->GaussianKernel(0,sigma) ;
-      this->laserMsg.intensities[i]   = v + this->GaussianKernel(0,sigma) ;
+        this->laserMsg.ranges[i]        = r + this->GaussianKernel(0,this->gaussianNoise) ;
+      this->laserMsg.intensities[i]   = v + this->GaussianKernel(0,this->gaussianNoise) ;
     }
 
     // iface writing can be skipped if iface is not used.

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml	2008-08-25 19:15:39 UTC (rev 3560)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml	2008-08-25 19:20:21 UTC (rev 3561)
@@ -1675,6 +1675,7 @@
     <map name="sensor" flag="gazebo">
       <verbatim key="sensor_ray">
         <sensor:ray name="tilt_laser">
+          <gaussianNoise>0.05</gaussianNoise>
           <rayCount>683</rayCount>
           <rangeCount>683</rangeCount>
           <laserCount>1</laserCount>
@@ -1736,6 +1737,7 @@
     <map name="sensor" flag="gazebo">
       <verbatim key="sensor_ray">
         <sensor:ray name="base_laser">
+          <gaussianNoise>0.05</gaussianNoise>
           <rayCount>683</rayCount>
           <rangeCount>683</rangeCount>
           <laserCount>1</laserCount>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml	2008-08-25 19:15:39 UTC (rev 3560)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2_test.xml	2008-08-25 19:20:21 UTC (rev 3561)
@@ -1672,6 +1672,7 @@
     <map name="sensor" flag="gazebo">
       <verbatim key="sensor_ray">
         <sensor:ray name="tilt_laser">
+          <gaussianNoise>0.05</gaussianNoise>
           <rayCount>683</rayCount>
           <rangeCount>683</rangeCount>
           <laserCount>1</laserCount>
@@ -1733,6 +1734,7 @@
     <map name="sensor" flag="gazebo">
       <verbatim key="sensor_ray">
         <sensor:ray name="base_laser">
+          <gaussianNoise>0.05</gaussianNoise>
           <rayCount>683</rayCount>
           <rangeCount>683</rangeCount>
           <laserCount>1</laserCount>


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