From b514c16f9d3b058465a6e337920bea5bcf525631 Mon Sep 17 00:00:00 2001 From: simondlevy Date: Sat, 21 Jul 2018 03:33:28 -0400 Subject: [PATCH] Commented MIN_SAMPLES setting --- examples/rpslam.py | 7 ++++++- examples/rpslam_scipy.py | 6 +++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/examples/rpslam.py b/examples/rpslam.py index b5c4aef..ca831b8 100755 --- a/examples/rpslam.py +++ b/examples/rpslam.py @@ -22,7 +22,12 @@ along with this code. If not, see . MAP_SIZE_PIXELS = 500 MAP_SIZE_METERS = 10 LIDAR_DEVICE = '/dev/ttyUSB0' -MIN_SAMPLES = 200 + + +# Ideally we could use all 250 or so samples that the RPLidar delivers in one +# scan, but on slower computers you'll get an empty map and unchanging position +# at that rate. +MIN_SAMPLES = 200 from breezyslam.algorithms import RMHC_SLAM from breezyslam.sensors import RPLidarA1 as LaserModel diff --git a/examples/rpslam_scipy.py b/examples/rpslam_scipy.py index de65187..663aa2e 100755 --- a/examples/rpslam_scipy.py +++ b/examples/rpslam_scipy.py @@ -22,7 +22,11 @@ along with this code. If not, see . MAP_SIZE_PIXELS = 500 MAP_SIZE_METERS = 10 LIDAR_DEVICE = '/dev/ttyUSB0' -MIN_SAMPLES = 180 + +# Ideally we could use all 250 or so samples that the RPLidar delivers in one +# scan, but on slower computers you'll get an empty map and unchanging position +# at that rate. +MIN_SAMPLES = 180 from breezyslam.algorithms import RMHC_SLAM from breezyslam.sensors import RPLidarA1 as LaserModel