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Increased max_buf_meas from 500 to 1000

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simondlevy
2018-07-04 20:00:39 -04:00
parent 424a7f1b1e
commit 3de40840fd
1 changed files with 4 additions and 6 deletions
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10
examples/rpslam.py
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@@ -22,14 +22,12 @@ along with this code. If not, see <http://www.gnu.org/licenses/>.
MAP_SIZE_PIXELS = 500 MAP_SIZE_PIXELS = 500
MAP_SIZE_METERS = 10 MAP_SIZE_METERS = 10
LIDAR_DEVICE = '/dev/ttyUSB0' LIDAR_DEVICE = '/dev/ttyUSB0'
MAX_BUF_MEAS = 1000
from breezyslam.algorithms import RMHC_SLAM from breezyslam.algorithms import RMHC_SLAM
from breezyslam.sensors import RPLidarA1 as LaserModel from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar from rplidar import RPLidar as Lidar
from pltslamshow import SlamShow from pltslamshow import SlamShow
from logging import Logger from logging import Logger
class STFU_Logger(Logger): class STFU_Logger(Logger):
@@ -45,8 +43,8 @@ class STFU_Logger(Logger):
if __name__ == '__main__': if __name__ == '__main__':
# Connect to Lidar unit, with logger that suppresses warnings # Connect to Lidar unit, with logger that suppresses warnings
lidar = Lidar(LIDAR_DEVICE, logger=STFU_Logger()) #lidar = Lidar(LIDAR_DEVICE, logger=STFU_Logger())
#lidar = Lidar(LIDAR_DEVICE) lidar = Lidar(LIDAR_DEVICE)
# Create an RMHC SLAM object with a laser model and optional robot model # Create an RMHC SLAM object with a laser model and optional robot model
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS) 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) mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
# Create an iterator to collect scan data from the RPLidar # 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: while True: