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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
Artem Smirnov
2018-10-09 20:03:34 +03:00
parent 9a4d467d9f f507923cb1
commit 6261ff9da5
3 changed files with 53 additions and 1 deletions
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5
clever/src/vl53l1x.py
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@@ -1,4 +1,6 @@
#!/usr/bin/env python
# TODO: rewrite, as Python version eats 20% CPU
from __future__ import division
import rospy
@@ -11,6 +13,7 @@ rospy.init_node('vl53l1x')
# range_pub = rospy.Publisher('~range', Range, queue_size=5)
# TODO: why remmaping is not working?
range_pub = rospy.Publisher('mavros/distance_sensor/rangefinder_3_sub', Range, queue_size=10)
z_shift = rospy.get_param("z_shift", 0) # TODO: move to mavros (use frame)
msg = Range()
msg.radiation_type = Range.INFRARED
@@ -28,7 +31,7 @@ rospy.loginfo('vl53l1x: start ranging')
r = rospy.Rate(14)
while not rospy.is_shutdown():
msg.header.stamp = rospy.get_rostime()
msg.range = tof.get_distance() / 1000
msg.range = tof.get_distance() / 1000 + z_shift
range_pub.publish(msg)
r.sleep()