is there any limit to when the robot should turn coz i have given it as 30. here is my code

! /usr/bin/env python

import rospy from sensor_msgs.msg import LaserScan from geometry_msgs.msg import Twist

rospy.init_node('topics_quiz_node') pub = rospy.Publisher('/cmd_vel', Twist,queue_size = 1) var = Twist() rate = rospy.Rate(2) pub.publish(var)

def callback(msg): y = msg.ranges[360] print y if (y > 30): pub.publish(var) var.linear.x = 0.5 var.angular.z = 0.0 elif (y<=30): pub.publish(var) var.angular.z = 0.5

sub = rospy.Subscriber('/kobuki/laser/scan', LaserScan, callback) rospy.spin()

asked 06 Jul, 19:26

AkshayNair's gravatar image

accept rate: 0%

Hi @AkshayNair,

The robot turning should not be based on timing but on how close the robot is to the obstacle (wall). That's why you have the LaserScan to detect when the robot is seeing an obstacle and how close the obstacle is.

Based on the LaserScan data, you should turn your robot, using the ranges array, as specified in the instructions.

One other hint: you can print some messages to see the closeness of the robot to the wall and then adjust your program accordingly.

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answered 08 Jul, 09:39's gravatar image

accept rate: 37%

Instructions clearly say to use ALL of the functions. So you're supposed to use the timed functions for something.

I'm finding the Turtlebot very inconsistent. Very small changes in time (e.g. from 4.99 to 5.0) make large differences in the amount turned. There seems to be no way to get in between.


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answered 11 Jul, 00:39's gravatar image

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question asked: 06 Jul, 19:26

question was seen: 37 times

last updated: 11 Jul, 00:39

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