Morse telemeters output keep increasing

Hello,

I have an issue with telemeters (SICK & HOKUYO) in MORSE :

I have a TTRK with a telemeter in a scene, when I run it everythings ok but when I try to read the output from rostopic, my ranges keep increasing.

for example with the first range : 0.40021... becomes 0.48642... after some scan.

When I take those values and draw them to map my scene, its like the telemeter keep rotatin on itself.

Here is my python script below :

from morse.builder import *
from smartwater.builder.robots import TTRK2

robot = TTRK2()
robot.name = "TTRK2"

robot.configure_stream()
kb = Keyboard()
robot.append(kb)

env = Environment('smartwater/environments/pepiniere2.blend')
env.properties(longitude = 1.47604, latitude = 43.564903, altitude = 0)

env.set_camera_location([0, -18, 10.5])
env.set_camera_rotation({math.radians(60), 0.0, math.radians(0)])

and the robot :

from morse.builder import *
from math import pi

class TTRK2(GroundRobot):
    """
    A template robot model for TTRK2, with a motion controller and a pose sensor.
    """
    def __init__(self, name = None, debug = True, scale = 1.0):

        # TTRK2.blend is located in the data/robots directory
        GroundRobot.__init__(self, 'smartwater/robots/TTRK2.blend', name)
        self._bpy_object.scale = [scale, scale, scale]
        self.properties(classpath = "smartwater.robots.TTRK2.TTRK2")

        self.set_rigid_body()
        self.set_collision_bounds()

        self.motion = MotionVW()
        self.motion.name = "Motion_Controller"
        self.append(self.motion)

        self.gps = GPS()
        self.gps.name = "Pose"
        self.gps.translate(z = 0.18)
        self.append(self.gps)

        self.raw_gps = GPS()
        self.raw_gps.level("raw")
        self.raw_gps.translate(z = 0.18)
        self.append(self.raw_gps)

        self.odometry = Odometry()
        self.odometry.level("integrated")
        self.append(self.odometry)

        self.pose = Pose()
        self.append(self.pose)

        self.telem = Sick()
        self.telem.name = "Sick"
        self.telem.translate(x=0.12, z=0.3)
        self.telem.properties(resolution = 1)
        self.telem.properties(scan_window = 240)
        self.telem.properties(laser_range = 5.0)
        self.telem.frequency(20)
        self.append(self.telem)

    def profile(self):
        self.motion.profile()
        self.gps.profile()
        self.raw_gps.profile()
        self.odometry.profile()
        self.telem.profile()
        self.pose.profile()

    def configure_stream(self, mw = 'ros'):
        self.motion.add_stream(mw)
        self.gps.add_stream(mw)
        self.raw_gps.add_stream(mw)
        self.odometry.add_stream(mw)
        self.pose.add_stream(mw)
        self.telem.add_stream(mw)

pepiniere2.blend.zip

What I've done so far :

tried with a different .blend file,
tried to reduce the range of the telemeter
tried with another robot
tried on another project

but I have the same issue with both Hikoyu and Sick telemeters. So if someone can help me or explain me what I'm doin wrong.

Thanks

MORSE version: morse 1.4
Blender version: Blender 2.69
Python version: Python v.3.4.3

EDIT 1 :

I tried to edit & run the scene directly from blender, telemeter don't seem to turn around I rode value from socket but still value keep increasing or decreasing randombly at each scene start.

The only thing coming to my mind is that maybe the latency of the VM produce this... Any other idea ?

EDIT 2 : I tried on another computer, same thing, the scan from telemeter seems to turn around the robot I tried to remove and reinstall morse 1.4

Thanks again

morse-simulator / morse

Morse telemeters output keep increasing #799