Merge branch 'cleanup'

flappy_automation_code/scripts/flappy_automation_code_node.py

@@ -28,7 +28,7 @@ def velCallback(msg):
 def laserScanCallback(msg):
     # msg has the format of sensor_msgs::LaserScan
     # print laser angle and range
-    print "Laser range: {}, angle: {}".format(msg.ranges[0], msg.angle_max)
+    print "Laser range: {}, angle: {}".format(msg.ranges[0], msg.angle_min)
 
 if __name__ == '__main__':
     try:

flappy_automation_code/src/flappy_automation_code.cpp

@@ -28,7 +28,7 @@ void laserScanCallback(const sensor_msgs::LaserScan::ConstPtr& msg)
 {
   //msg has the format of sensor_msgs::LaserScan
   //print laser angle and range
-  ROS_INFO("Laser range: %f, angle: %f", msg->ranges[0], msg->angle_max);
+  ROS_INFO("Laser range: %f, angle: %f", msg->ranges[0], msg->angle_min);
 }
 
 int main(int argc, char **argv)

flappy_main_game/scripts/flappy.py

@@ -22,8 +22,6 @@
 # laser specs
 LASERFOV = 90
 LASERRES = 9
-LASERHZ = 30
-ROTATING = 0
 
 # scale pixels to meters
 SCALING = 0.01
@@ -215,7 +213,7 @@ def mainGame(movementInfo):
     #define publishers
     pub_velocity = rospy.Publisher('flappy_vel', Vector3, queue_size=10)
     # create laser
-    laser = Laser(LASERFOV,LASERRES,LASERHZ,SCALING,ROTATING)
+    laser = Laser(LASERFOV,LASERRES,SCALING)
     score = playerIndex = loopIter = 0
     playerIndexGen = movementInfo['playerIndexGen']
     playerx, playery = int(SCREENWIDTH * 0.13), movementInfo['playery']
@@ -362,7 +360,7 @@ def mainGame(movementInfo):
         bitmap = getBitmap(upperPipes,lowerPipes,(basex, BASEY))
         # do raytracing with Laser
         playerMiddle = (playerx + IMAGES['player'][0].get_width() / 2,playery + IMAGES['player'][0].get_height() / 2)
-        laserPoints = laser.scan(playerMiddle,bitmap,pygame.time.get_ticks())
+        laserPoints = laser.scan(playerMiddle,bitmap)
 
         # display
         if DEBUG == 1:

flappy_main_game/scripts/laser.py

@@ -5,35 +5,19 @@
 #from std.msg import Float32
 
 class Laser:
-    def __init__(self,fov,resolution,hz,scaling,rotating):
+    def __init__(self,fov,resolution,scaling):
         self.fov = fov #degrees
         self.angle_max = math.radians(fov/2.0) # radians
         self.angle_min = -math.radians(fov/2.0) # radians
         self.angle_increment = math.radians(fov/(resolution-1.0)) # radians
         self.resolution = resolution
-        self.sampleTime = 1000*1.0/hz
-        self.range = 355
-        self.time = 0
+        self.range = 355 #pixels
         self.laser_scan_publisher = rospy.Publisher("/flappy_laser_scan", LaserScan, queue_size=10)
         self.scaling = scaling
-        # For rotating Lidar
-        self.rotating = rotating
-        self.ray_counter = 0
 
-    def scan(self,startPoint,bitmap,time):
-        # update with indicated hz
-        #time_diff = time-self.time
-        #if time_diff < self.sampleTime:
-        #    return []
-        #self.time = time-(time_diff % self.sampleTime)
+    def scan(self,startPoint,bitmap):
         pointcloud = []
-        if self.rotating:
-            raysToCast = [self.ray_counter]
-            self.ray_counter += 1
-            if self.ray_counter >= self.resolution:
-                self.ray_counter = 0
-        else:
-            raysToCast = xrange(self.resolution)
+        raysToCast = xrange(self.resolution)
 
         for i in raysToCast:
             # calc endpoint from angle and range
@@ -95,19 +79,11 @@ def _publish_laser_scan(self,pointcloud,startPoint):
         scan = LaserScan()
         scan.header.stamp = rospy.Time.now()
         scan.header.frame_id = 'laser_frame'
-
         scan.range_min = 0.0
         scan.range_max = self.range*self.scaling
-
-        if self.rotating:
-            scan.angle_min = self.angle_max-(self.ray_counter*self.angle_increment)
-            scan.angle_max = scan.angle_min
-            scan.angle_increment = 0
-        else:
-            scan.angle_min = self.angle_min
-            scan.angle_max = self.angle_max
-            scan.angle_increment = self.angle_increment
-
+        scan.angle_min = self.angle_min
+        scan.angle_max = self.angle_max
+        scan.angle_increment = self.angle_increment
 
         scan.ranges = []
         scan.intensities = []