X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=scripts%2Frobo_explorer.py;h=bf3522927532cc94d8223e0fd9628448ccb5344c;hb=790aaf3a25c33986f1179102df98b7b71d7c33d5;hp=cfc23fa70aa2868697be8f1b2847a33506f2d093;hpb=ffe8ec42bc41d93a9129b6f11c641698d24b27ab;p=ros_roboint.git diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index cfc23fa..bf35229 100755 --- a/scripts/robo_explorer.py +++ b/scripts/robo_explorer.py @@ -2,9 +2,9 @@ import roslib; roslib.load_manifest('roboint') import rospy import tf -from math import sin, cos, pi -from geometry_msgs.msg import Twist, TransformStamped, Point32 -from sensor_msgs.msg import LaserScan +from math import * +from geometry_msgs.msg import Twist, TransformStamped, Point32, PoseWithCovarianceStamped +from sensor_msgs.msg import Range from nav_msgs.msg import Odometry from roboint.msg import Motor from roboint.msg import Inputs @@ -14,27 +14,41 @@ class RoboExplorer: def __init__(self): rospy.init_node('robo_explorer') - self.wheel_dist = 0.188 # 18.8cm - self.wheel_size = 0.051*0.5 # 5.1cm; gear ration=0.5 - self.speed = (0, 0) self.x = 0 self.y = 0 self.alpha = 0 self.last_in = None - self.tf_broadcaster = tf.TransformBroadcaster() + self.tf_broadcaster = tf.broadcaster.TransformBroadcaster() self.last_time = rospy.Time.now() self.x_last = 0 self.y_last = 0 self.alpha_last = 0 - self.pub_motor = rospy.Publisher("ft/set_motor", Motor) - self.pub_scan = rospy.Publisher("scan", LaserScan) - self.pub_odom = rospy.Publisher("odom", Odometry) + # Distance between both wheels in meter (18.55cm) + self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.1855")) + # Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm + self.wheel_size = float(rospy.get_param('~wheel_size', "0.02575")) + # 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, queue_size=16) + self.pub_sonar = rospy.Publisher("sonar", Range, queue_size=16) + self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16) rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived) + rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.posReceived) rospy.spin() + + def posReceived(self, msg): + self.x = msg.pose.pose.position.x + self.y = msg.pose.pose.position.y + orientation = msg.pose.pose.orientation + angles = tf.transformations.euler_from_quaternion([orientation.x, orientation.y, orientation.z, orientation.w]) + self.alpha = angles[2] def inputsReceived(self, msg): current_time = rospy.Time.now() @@ -42,27 +56,27 @@ class RoboExplorer: self.update_odometry(msg, current_time) if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms self.send_odometry(msg, current_time) - self.send_laser_scan(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[1:3] + 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: + if msg.output[1] > 0: # left reverse in_diff[0] = -in_diff[0] - elif self.speed[0] == 0: + elif msg.output[0] == 0 and msg.output[1] == 0: # left stop in_diff[0] = 0 - if self.speed[1] < 0: + if msg.output[3] > 0: # right reverse in_diff[1] = -in_diff[1] - elif self.speed[1] == 0: + elif msg.output[2] == 0 and msg.output[3] == 0: # right stop in_diff[1] = 0 - dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8 # steps_changed in different direction => m + 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 + 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 @@ -80,8 +94,10 @@ class RoboExplorer: 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 + vx = sqrt((self.x - self.x_last)**2 + (self.y - self.y_last)**2) / dt + if (msg.output[0]-msg.output[1] + msg.output[2]-msg.output[3]) < 0: + # moving backward + vx*=-1 valpha = (self.alpha - self.alpha_last) / dt self.x_last = self.x self.y_last = self.y @@ -110,34 +126,23 @@ class RoboExplorer: # set the velocity odom.child_frame_id = "base_link" odom.twist.twist.linear.x = vx - odom.twist.twist.linear.y = vy + odom.twist.twist.linear.y = 0.0 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 = 0.001/num_points - 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) + 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) # test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]' def cmdVelReceived(self, msg): @@ -150,14 +155,14 @@ class RoboExplorer: # handle translation speed_l = 0 wish_speed_left = trans - speed_offset - if abs(wish_speed_left) > 1.7/64.3: - speed_l = 64.3*abs(wish_speed_left) - 1.7 + 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) > 1.7/64.3: - speed_r = 64.3*abs(wish_speed_right) - 1.7 + 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 @@ -167,19 +172,17 @@ class RoboExplorer: if speed_r < -7: speed_r = -7 elif speed_r > 7: speed_r = 7 - #print "Speed wanted: %.2f %.2f, set: %d %d" % (trans, rot*180/pi, round(speed_l), round(speed_r)) + #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.num = 0 outmsg.speed = round(speed_l) self.pub_motor.publish(outmsg) outmsg = Motor() - outmsg.num = 2 + outmsg.num = 1 outmsg.speed = round(speed_r) self.pub_motor.publish(outmsg) - self.speed = (speed_l, speed_r) - if __name__ == '__main__': RoboExplorer()