Allow option to restring full scan to narrow cone only#1065
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Based on experience from "Tulak po krasu 2026" where we did not want to see the back of the robot on 360 degree VanJee lidar and even 180 degrees was too much, so 90deg was final choice.
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To my surprise even the logs from Pat (lidar only) had ~ 4GB, and with this extra refactoring |
tajgr
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Jun 21, 2026
| self.max_speed = config.get('max_speed', 0.5) # m/s | ||
| self.max_dist_limit = config.get('max_dist_limit', 1.3) # m | ||
| self.desired_dist = config.get('desired_dist', 0.4) # m | ||
| self.track_front_deg = config.get('track_front_deg', None) |
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Some note about the purpose?
tajgr
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Jun 21, 2026
| fraction = min(1.0, float(self.track_front_deg) / abs(self.scan_fov_deg)) | ||
| remove_side_fraction = (1.0 - fraction) / 2.0 | ||
| LIMIT_LOW = int(remove_side_fraction * SCAN_SIZE) | ||
| LIMIT_HIGH = SCAN_SIZE - LIMIT_LOW |
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It looks like a global variable but it doesn't.
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yeah, the code is 19 years old (Eduro, Jirka), so it would be worth it some proper refactoring - if you would use it (say with ouster+Spider), let me know
p.s. there is also not merged branch feature/push-pat so I do not want to change too much code here
tajgr
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Jun 21, 2026
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Based on experience from "Tulak po krasu 2026" where we did not want to see the back of the robot on 360 degree VanJee lidar and even 180 degrees was too much, so 90deg was final choice.
The goal is to remove "followme_vanjee.py" almost identical copy from: robotika/osgar-apps#30