modify rover_self_drving

communication/rover_communication.py

@@ -92,23 +92,13 @@ class Communication:
         target_raw_pose = PositionTarget()
         target_raw_pose.coordinate_frame = self.coordinate_frame 
 
-        if self.coordinate_frame == 1:
-            target_raw_pose.position.x = x
-            target_raw_pose.position.y = y
-            target_raw_pose.position.z = z
+        target_raw_pose.position.x = x
+        target_raw_pose.position.y = y
+        target_raw_pose.position.z = z
 
-            target_raw_pose.velocity.x = vx
-            target_raw_pose.velocity.y = vy
-            target_raw_pose.velocity.z = vz
-        
-        else:
-            target_raw_pose.position.x = -y
-            target_raw_pose.position.y = x
-            target_raw_pose.position.z = z
-
-            target_raw_pose.velocity.x = -vy
-            target_raw_pose.velocity.y = vx
-            target_raw_pose.velocity.z = vz
+        target_raw_pose.velocity.x = vx
+        target_raw_pose.velocity.y = vy
+        target_raw_pose.velocity.z = vz
 
         target_raw_pose.yaw = yaw
 

control/rover_self_driving.py

@@ -3,7 +3,7 @@ from geometry_msgs.msg import Twist
 from std_msgs.msg import Int16
 
 Kp = 0.003
-Vx = 3
+Vx = 5
 
 def lane_mid_error_callback(msg):
     global twist
@@ -16,7 +16,7 @@ def lane_mid_error_callback(msg):
         else:
             twist.linear.y = 0.0
             
-        twist.linear.x = Vx * (1 - twist.linear.x)
+        twist.linear.x = Vx * (1 - abs(twist.linear.y))
 
 
 if __name__ == "__main__":

sensing/lane_detection/lane_detection.py

@@ -1,6 +1,4 @@
 import numpy as np
-import sys
-sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
 import cv2
 import math
 import rospy