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Changed Drift Tolerance to 5 Meters #140

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Merged
gmfricke merged 1 commit into from
Nov 14, 2017
Merged

Changed Drift Tolerance to 5 Meters #140

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5 changes: 3 additions & 2 deletions src/behaviours/src/ROSAdapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ long int startTime = 0;
float minutesTime = 0;
float hoursTime = 0;

float drift_tolerance = 1.2; // meters
float drift_tolerance = 5; // meters

Result result;

Expand Down Expand Up @@ -660,7 +660,8 @@ void transformMapCentertoOdom()
geometry_msgs::PoseStamped odomPose;
string x = "";

try { //attempt to get the transform of the center point in map frame to odom frame.
try
{ //attempt to get the transform of the center point in map frame to odom frame.
tfListener->waitForTransform(publishedName + "/map", publishedName + "/odom", ros::Time::now(), ros::Duration(1.0));
tfListener->transformPose(publishedName + "/odom", mapPose, odomPose);
}
Expand Down