Replace location_monitor_node.py

src/sim/location_monitor/scripts/location_monitor_node.py

@@ -21,8 +21,8 @@ from gazebo_msgs.srv import GetWorldProperties
 
 BotDist = float(sys.argv[1])#Abstand vom BotKoordinatenursprung zum Kollisions Rand
 BotHeight = float(sys.argv[2])#Hoehe des Bots        Waffle:0.14 Burger:0.19
-BotSides = float(sys.argv[3])#Distanz Zur Ecke.      Waffle:0.07 Burger:0
-BotSideRad = float(sys.argv[4])#Ausrichtungs Radius. Waffle:68  Burger:0
+BotSides = float(sys.argv[3])#Distanz Zur Ecke.      Waffle:0.165 Burger:0
+BotSideRad = float(sys.argv[4])#Ausrichtungs Radius. Waffle:65  Burger:0
 SafeDist = float(sys.argv[5])#Sicherheitsabstand
 DestinationX = float(sys.argv[6])#Ziellinie
 Timeout = float(sys.argv[7])#timeout
@@ -312,13 +312,13 @@ def callback(msg):
     botx = msg.pose.pose.position.x
     boty = msg.pose.pose.position.y
 
-    botx = botx + BotDist * math.cos(math.radians(yawBot))
-    boty = boty + BotDist * math.sin(math.radians(yawBot))
+    botx1 = botx + BotDist * math.cos(math.radians(yawBot))
+    boty1 = boty + BotDist * math.sin(math.radians(yawBot))
     rospy.loginfo("BotX: " + str(botx))
     rospy.loginfo("BotY: " + str(boty))
     detect = Detection()
 
-    cordlist = [botx,boty]
+    cordlist = [botx1,boty1]
 
     if BotSides !=0:
        cordlist.append(botx + BotSides * math.cos(math.radians(yawBot+BotSideRad)))