From 3de40840fd590f383e541f250f36bcc06474bc33 Mon Sep 17 00:00:00 2001 From: simondlevy Date: Wed, 4 Jul 2018 20:00:39 -0400 Subject: [PATCH] Increased max_buf_meas from 500 to 1000 --- examples/rpslam.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/examples/rpslam.py b/examples/rpslam.py index 779b5c7..bb23579 100755 --- a/examples/rpslam.py +++ b/examples/rpslam.py @@ -22,14 +22,12 @@ along with this code. If not, see . MAP_SIZE_PIXELS = 500 MAP_SIZE_METERS = 10 LIDAR_DEVICE = '/dev/ttyUSB0' +MAX_BUF_MEAS = 1000 from breezyslam.algorithms import RMHC_SLAM from breezyslam.sensors import RPLidarA1 as LaserModel - from rplidar import RPLidar as Lidar - from pltslamshow import SlamShow - from logging import Logger class STFU_Logger(Logger): @@ -45,8 +43,8 @@ class STFU_Logger(Logger): if __name__ == '__main__': # Connect to Lidar unit, with logger that suppresses warnings - lidar = Lidar(LIDAR_DEVICE, logger=STFU_Logger()) - #lidar = Lidar(LIDAR_DEVICE) + #lidar = Lidar(LIDAR_DEVICE, logger=STFU_Logger()) + lidar = Lidar(LIDAR_DEVICE) # Create an RMHC SLAM object with a laser model and optional robot model slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) @@ -61,7 +59,7 @@ if __name__ == '__main__': mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS) # Create an iterator to collect scan data from the RPLidar - iterator = lidar.iter_scans() + iterator = lidar.iter_scans(max_buf_meas=MAX_BUF_MEAS) while True: