controller dock

MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp

@@ -73,7 +73,7 @@ double ImageConverter::i_term = 0;
 double ImageConverter::d_term = 0;
 double ImageConverter::control_signal;
 
-double ImageConverter::prop_gain = 15;
+double ImageConverter::prop_gain = 5;
 double ImageConverter::integ_gain = 3;
 double ImageConverter::deriv_gain = 0;
 

MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~

@@ -340,7 +340,7 @@ void ImageConverter::ProgStart(int argc,char** argv)
 				                                               tf::Vector3(x_t, y_t, z_t)), 
 				                                               (ros::Time::now()/* - ros::Duration(35)*/),
 				                                                "/camera", 
-				                                                "marker"));
+				                                                "/marker"));
 				
 				// Now publish the pose message, remember the offsets
 				msg.header.frame_id = "/camera";

MobileRobot/Controller/PID/dock/src/dock.cpp

@@ -33,7 +33,7 @@ RobotDocking::RobotDocking() : ac("Robot_move", true)
         
         commandPub = node.advertise<geometry_msgs::Twist>("/base_controller/command",1);
         
-        PosSub = node.subscribe("/visualize_pose_ekf",1,&RobotDocking::RobCurrPose,this);
+        //PosSub = node.subscribe("/visualize_pose_ekf",1,&RobotDocking::RobCurrPose,this);
         
 
 }
@@ -45,7 +45,7 @@ void RobotDocking::ProgStart()
         
         while (ros::ok() && keepMoving)
         {
-                //dock(FORWARD_SPEED_MPS);
+                dock(FORWARD_SPEED_MPS);
                 ros::spinOnce();
                 rate.sleep();
         }
@@ -89,8 +89,8 @@ void RobotDocking::Controller(double Reference, double RobPose, double dt)
 void RobotDocking::dock(double speed)
 {
         geometry_msgs::Twist msg;
-	//msg.linear.x = speed;
-	msg.angular.z = speed;
+	msg.linear.x = speed;
+	//msg.angular.z = speed;
 	commandPub.publish(msg);
 	
 	ROS_INFO_STREAM(" Current speed of robot: " << speed << " m/s \n");

MobileRobot/Controller/PID/dock/src/dock.cpp~

@@ -33,7 +33,7 @@ RobotDocking::RobotDocking() : ac("Robot_move", true)
         
         commandPub = node.advertise<geometry_msgs::Twist>("/base_controller/command",1);
         
-        PosSub = node.subscribe("/visualize_pose_ekf",1,&RobotDocking::RobCurrPose,this);
+        //PosSub = node.subscribe("/visualize_pose_ekf",1,&RobotDocking::RobCurrPose,this);
         
 
 }
@@ -89,8 +89,8 @@ void RobotDocking::Controller(double Reference, double RobPose, double dt)
 void RobotDocking::dock(double speed)
 {
         geometry_msgs::Twist msg;
-	//msg.linear.x = speed;
-	msg.angular.z = speed;
+	msg.linear.x = speed;
+	//msg.angular.z = speed;
 	commandPub.publish(msg);
 	
 	ROS_INFO_STREAM(" Current speed of robot: " << speed << " m/s \n");