Replace location_monitor_node.py

src/sim/location_monitor/scripts/location_monitor_node.py

@@ -158,13 +158,13 @@ def objectWithRadiusDetection(radius, cordlist, l_x, l_y, simtime):
     global SafeDist
     safedist = radius + SafeDist  # Radius/Size + Bot front Rad + safe dist
     rospy.loginfo("Safedist: " + str(safedist))
+    logger.info("Safedist.: " + str(safedist))
     lenght = len(cordlist)-1
-    rospy.loginfo("Distance: " + str(distance(cordlist[0], cordlist[1], l_x, l_y)))
+    rospy.loginfo("Distance: " + str(distance(cordlist[0], cordlist[1], l_x, l_y))) #Zenterpunkt
+    dist = distance(cordlist[0], cordlist[1], l_x, l_y)
+    logger.info("[T:" + simtime + "] " + "Dist. To Bot Center: " + str(dist))
     for i in range(lenght):
      dist = distance(cordlist[i], cordlist[i+1], l_x, l_y)
-     if WriteFlag == 0:
-         logger.info("Safedist.: " + str(safedist))
-         logger.info("[T:" + simtime + "] " + "Dist. To Collision Point: " + str(dist))
      if dist < safedist:
          rospy.loginfo("Collision!")
          if WriteFlag == 0:
@@ -209,8 +209,8 @@ def boxkdetection(size, cordlist, l_x, l_y, yaw_degrees, simtime):
           dynY = l_y + dis * math.sin(math.radians(angle1))
 
           distult = distance(cordlist[i], cordlist[i+1], dynX, dynY)
-          if WriteFlag == 0:
-              logger.info("[T:" + str(simtime) + "] " + "Dist to collision point: " + str(distult))
+          if WriteFlag == 0 and i == 0:
+              logger.info("[T:" + str(simtime) + "] " + "Dist. To Bot Center: " + str(distult))
           rospy.loginfo("Dist to collision point: " + str(distult))
           if distult < safedist:
               rospy.loginfo("Collision!")
@@ -270,6 +270,8 @@ def callback(msg):
 
        cordlist.append(botx + BotSides * math.cos(math.radians(yawBot-BotSideRad)))
        cordlist.append(boty + BotSides * math.sin(math.radians(yawBot-BotSideRad)))
+
+
     detect.show_gazebo_models(cordlist)
     gc.collect()