WIP #9: A few tweaks to the simulation code

simulation_tools/scripts/path_tracking_sim.py

@@ -20,7 +20,7 @@ def __init__(self, twist_topic, pose_topic, init_pose=Pose()):
         # True state of robot
         self.pose = init_pose
         self.desired_lin_vel = 1.0
-        self.desired_ang_vel = -2.12132034356
+        self.desired_ang_vel = 2 / -2.12132034356
 
         # Subscriber to listen for incoming drive commands
         self.twist_sub = rospy.Subscriber(twist_topic, Twist, self.set_twist)
@@ -62,6 +62,8 @@ def send_pose_est(self):
         self.pose_pub.publish(self.pose)
 
 
+
+
 if __name__ == "__main__":
 
     # Create base image for viewing simulation
@@ -110,11 +112,11 @@ def send_pose_est(self):
         arrow_y2 = arrow_y1 - (sin(theta) * .15)
         cv2.arrowedLine(frame, (int(arrow_x1 * scale), int(arrow_y1 * scale)),
                         (int(arrow_x2 * scale), int(arrow_y2 * scale)), p_color, 2, tipLength=0.5)
-        cv2.circle(frame, (int(arrow_x1 * scale), int(arrow_y1 * scale)), 5, r_color)
+        cv2.circle(frame, (int(arrow_x1 * scale), int(arrow_y1 * scale)), 5, r_color, thickness=-1)
 
         # DRAW TEST POINT
         target_point = [1.7071067811865475, 0.7071067811865475]
-        cv2.circle(frame, (int(target_point[0] * scale), int((field_length - target_point[1]) * scale)), 5, (0, 0, 255))
+        cv2.circle(frame, (int(target_point[0] * scale), int((field_length - target_point[1]) * scale)), 5, (0, 0, 255), thickness=-1)
 
         # Display image
         cv2.imshow("Path tracking simulation", frame)