gps_follow_waypoints.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import sys
   5 import rospy
   6 import tf
   7 import actionlib
   8 import tf2_ros
   9 from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
  10 from actionlib_msgs.msg import GoalStatus
  11 from geodesy import utm
  12 from math import *
  13
  14 class GPSGotoCoords:
  15         def __init__(self):
  16                 rospy.init_node('gps_goto_coords')
  17                 self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
  18                 self.tfBuffer = tf2_ros.Buffer()
  19                 self.listener = tf2_ros.TransformListener(self.tfBuffer)
  20
  21                 rospy.loginfo("Waiting for the move_base action server to come up")
  22                 self.move_base.wait_for_server()
  23                 rospy.loginfo("Got move_base action server")
  24
  25         def next_pos(self, lat, lon):
  26                 rospy.loginfo("Moving to (%f, %f)" % (lat, lon))
  27
  28                 point = utm.fromLatLong(lat, lon)
  29
  30                 # Get the current position
  31                 pos = self.tfBuffer.lookup_transform("utm", 'base_link', rospy.Time(0), rospy.Duration(2.0))
  32                 # calculate angle between current position and goal
  33                 angle_to_goal = atan2(point.northing - pos.transform.translation.y, point.easting - pos.transform.translation.x)
  34                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle_to_goal)
  35
  36                 goal = MoveBaseGoal()
  37                 goal.target_pose.header.frame_id = "utm"
  38                 goal.target_pose.header.stamp = rospy.Time.now()
  39                 goal.target_pose.pose.position.x = point.easting
  40                 goal.target_pose.pose.position.y = point.northing
  41                 goal.target_pose.pose.orientation.x = odom_quat[0]
  42                 goal.target_pose.pose.orientation.y = odom_quat[1]
  43                 goal.target_pose.pose.orientation.z = odom_quat[2]
  44                 goal.target_pose.pose.orientation.w = odom_quat[3]
  45                 self.move_base.send_goal(goal)
  46
  47                 self.move_base.wait_for_result()
  48
  49                 if self.move_base.get_state() == GoalStatus.SUCCEEDED:
  50                         rospy.loginfo("The base moved to (%f, %f)" % (lat, lon))
  51                 else:
  52                         rospy.logerr("The base failed to (%f, %f)" % (lat, lon))
  53                         exit(1)
  54
  55         def run(self, sCSVFile):
  56                 f = open(sCSVFile)
  57                 for line in f:
  58                         pos = line.split(",")
  59                         self.next_pos(float(pos[0]), float(pos[1]))
  60
  61 if __name__ == "__main__":
  62         p = GPSGotoCoords()
  63         p.run(sys.argv[1])