workaround #553

[PierrickKoch]

workaround #553

[PierrickKoch]

Test similar to examples/tutorials/noise_ghost_tutorial.py and examples/clients/atrv/ghost_noise_script.py

from morse.builder import *

robot = ATRV()
odom = Odometry()
robot.append(odom)
odom.add_stream('socket')
keyboard = Keyboard()
keyboard.properties(Speed=3)
robot.append(keyboard)
odom.alter(0,classpath='morse.modifiers.odometry_noise.OdometryNoise', gyro_drift=0.00005)

ghost = ATRV()
ghost.make_ghost()
teleport = Teleport()
ghost.append(teleport)
ghost.add_default_interface('socket')

env = Environment("land-1/trees")
env.set_camera_speed(5)
env.create()

import pymorse

with pymorse.Morse() as morse:
    try:
        while morse.is_up():
            odom = morse.robot.odom.get()
            morse.ghost.teleport.publish(odom)
            morse.sleep(.1)
    except KeyboardInterrupt:
        print("Bye.")

[adegroote]

See my proposal in adegroote@b999964,

Through, I'm not completely happy with that with the redundant computation of (dx, dy, dyaw) and the fact that the sensor "do" some computation for the modifier. But it preserves the interface.

[PierrickKoch]

Looks cool to me ! :-)

[adegroote]

Ok I will commit it so. You can merge the two other commits after that .

[PierrickKoch]

Would you mind changing the name OdometryNoiseModifier -> OdometryNoise ?
Since it's already in the modifiers package, 'Modifier' is redundant

[adegroote]

On 29/Jul - 05:35, Pierrick Koch wrote:

Would you mind changing the name OdometryNoiseModifier -> OdometryNoise ?
Sonce it's already in the modifiers package, 'Modifier' is redundant

Too late.

But yes, we can remove the Modifier noise in the different modifier
classes name, (in a consistent way).
Make sure to adapt data.py accordingly.