X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=scripts%2Frobo_explorer.py;h=83cc48b70b3e40533820de40a8f2c4fcb26c6066;hb=e2df79c17569d45bd959aec083c5fd6e72ca960b;hp=f39c9c46732ad3bcd71bff05d25c5246b2154094;hpb=ee1be750d172797343ddb45ce1911990b2faa2d1;p=ros_roboint.git diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index f39c9c4..83cc48b 100755 --- a/scripts/robo_explorer.py +++ b/scripts/robo_explorer.py @@ -1,14 +1,8 @@ #!/usr/bin/env python import roslib; roslib.load_manifest('roboint') import rospy -import tf -import tf.broadcaster -import tf.transformations -from math import sin, cos, pi -from geometry_msgs.msg import Twist, TransformStamped, Point32 -from sensor_msgs.msg import LaserScan -from nav_msgs.msg import Odometry -from roboint.msg import Motor +from math import * +from sensor_msgs.msg import Range from roboint.msg import Inputs @@ -16,183 +10,32 @@ class RoboExplorer: def __init__(self): rospy.init_node('robo_explorer') - self.speed = (0, 0) - self.x = 0 - self.y = 0 - self.alpha = 0 - self.last_in = None - self.tf_broadcaster = tf.broadcaster.TransformBroadcaster() self.last_time = rospy.Time.now() - self.x_last = 0 - self.y_last = 0 - self.alpha_last = 0 - - # fake laser scan with ultra sonic range finder - self.enable_ultrasonic_laser = bool(rospy.get_param('~ultrasonic_laser', "True")) - # Distance between both wheels in meter (18.8cm) - self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.188")) - # Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm - self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255")) - # Speed to PWM equation gradiant (The m in pwm = speed*m+b) - self.speed_gradiant = float(rospy.get_param('~speed_gradiant', "64.3")) - # Speed to PWM equation constant (The b in pwm = speed*m+b) - self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7")) - - self.pub_motor = rospy.Publisher("ft/set_motor", Motor) - if self.enable_ultrasonic_laser: - self.pub_scan = rospy.Publisher("scan", LaserScan) - self.pub_odom = rospy.Publisher("odom", Odometry) - - rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) + self.pub_sonar = rospy.Publisher("sonar", Range, queue_size=16) rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived) rospy.spin() - + def inputsReceived(self, msg): current_time = rospy.Time.now() - self.update_odometry(msg, current_time) + #self.update_odometry(msg, current_time) if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms - self.send_odometry(msg, current_time) - if self.enable_ultrasonic_laser: - self.send_laser_scan(msg, current_time) + #self.send_odometry(msg, current_time) + self.send_range(msg, current_time) self.last_time = current_time - def update_odometry(self, msg, current_time): - in_now = msg.input[:2] - if self.last_in is not None: - in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs - # fix in_diff from actual motor direction - if self.speed[0] < 0: - in_diff[0] = -in_diff[0] - elif self.speed[0] == 0: - in_diff[0] = 0 - if self.speed[1] < 0: - in_diff[1] = -in_diff[1] - elif self.speed[1] == 0: - in_diff[1] = 0 - - dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8 # steps_changed in different direction => m - delta_alpha = dist_dir/self.wheel_dist - - dist = (in_diff[0] + in_diff[1])/2.0*self.wheel_size*pi/8 # steps_changed same direction => m - - delta_x = cos(self.alpha + delta_alpha/2)*dist - delta_y = sin(self.alpha + delta_alpha/2)*dist - - self.alpha += delta_alpha - if self.alpha > 2*pi: - self.alpha -= 2*pi - elif self.alpha < -2*pi: - self.alpha += 2*pi - self.x += delta_x - self.y += delta_y - - self.last_in = in_now - - def send_odometry(self, msg, current_time): - # speeds - dt = (current_time - self.last_time).to_sec() - vx = (self.x - self.x_last) / dt - vy = (self.y - self.y_last) / dt - valpha = (self.alpha - self.alpha_last) / dt - self.x_last = self.x - self.y_last = self.y - self.alpha_last = self.alpha - - # since all odometry is 6DOF we'll need a quaternion created from yaw - odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha) - - # first, we'll publish the transform over tf - self.tf_broadcaster.sendTransform((self.x, self.y, 0.0), odom_quat, current_time, "base_link", "odom") - - # next, we'll publish the odometry message over ROS - odom = Odometry() - odom.header.stamp = current_time - odom.header.frame_id = "/odom" - - # set the position - odom.pose.pose.position.x = self.x - odom.pose.pose.position.y = self.y - odom.pose.pose.position.z = 0.0 - odom.pose.pose.orientation.x = odom_quat[0] - odom.pose.pose.orientation.y = odom_quat[1] - odom.pose.pose.orientation.z = odom_quat[2] - odom.pose.pose.orientation.w = odom_quat[3] - - # set the velocity - odom.child_frame_id = "base_link" - odom.twist.twist.linear.x = vx - odom.twist.twist.linear.y = vy - odom.twist.twist.angular.z = valpha - - # publish the message - self.pub_odom.publish(odom) - - def send_laser_scan(self, msg, current_time): - # first, we'll publish the transform over tf - self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link") - - # actually ultra sonic range finder - num_points = 60 # The base planner needs at least 30 points to work in the default config - opening_angle = 30*pi/180 # each side - scan = LaserScan() + def send_range(self, msg, current_time): + # ultra sonic range finder + scan = Range() scan.header.stamp = current_time - scan.header.frame_id = "/scan" - scan.angle_min = -opening_angle - scan.angle_max = opening_angle - scan.angle_increment = (2*opening_angle)/num_points - scan.time_increment = 0.0 - scan.range_min = 0.0 - scan.range_max = 4.0 - for i in range(num_points): - scan.ranges.append(msg.d1/100.0) - #scan.intensities.append(0.5) - #scan.intensities.append(1.0) - #scan.intensities.append(0.5) - self.pub_scan.publish(scan) - - # test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]' - def cmdVelReceived(self, msg): - trans = msg.linear.x - rot = msg.angular.z # rad/s - - # handle rotation as offset to speeds - speed_offset = (rot * self.wheel_dist)/2.0 # m/s - - # handle translation - speed_l = 0 - wish_speed_left = trans - speed_offset - if abs(wish_speed_left) > 0: - speed_l = self.speed_gradiant*abs(wish_speed_left) + self.speed_constant - if wish_speed_left < 0: - speed_l*=-1 - speed_r = 0 - wish_speed_right = trans + speed_offset - if abs(wish_speed_right) > 0: - speed_r = self.speed_gradiant*abs(wish_speed_right) + self.speed_constant - if wish_speed_right < 0: - speed_r*=-1 - - # check limits - if speed_l < -7: speed_l = -7 - elif speed_l > 7: speed_l = 7 - if speed_r < -7: speed_r = -7 - elif speed_r > 7: speed_r = 7 - - #print "Speed wanted: %.2f m/s %.2f rad/s, set: %d %d" % (trans, rot, round(speed_l), round(speed_r)) - - outmsg = Motor() - outmsg.num = 1 - outmsg.speed = round(speed_l) - self.pub_motor.publish(outmsg) - - outmsg = Motor() - outmsg.num = 2 - outmsg.speed = round(speed_r) - self.pub_motor.publish(outmsg) - - self.speed = (speed_l, speed_r) + scan.header.frame_id = "forward_sensor" + scan.radiation_type = 0 + scan.field_of_view = 60*pi/180 + scan.min_range = 0.0 + scan.max_range = 4.0 + scan.range = msg.d1/100.0 + self.pub_sonar.publish(scan) if __name__ == '__main__': RoboExplorer()