-added arm_ros_conn

-ros navigation tuning

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index ae715827b8bc7027aa8ec6eb1197e1902f2e63c5..0db0a91fb486fd96d58505b5dbcd82ceca8f688c 100644 (file)
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -10,3 +10,4 @@ TrajectoryPlannerROS:
   acc_lim_theta: 3.2
 
   holonomic_robot: false
+  meter_scoring: true

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 8decd3b1d2af7e6daa2d7aefdad1cfe880291724..381042935762dc78df8320f693d01a5eabeefb0e 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,11 +1,9 @@
-obstacle_range: 2.5
-raytrace_range: 3.0
 footprint: [ [0.22, 0.11], [-0.08, 0.11], [-0.08, -0.11], [0.22, -0.11] ]
 #robot_radius: 0.15
 inflation_radius: 0.55
-transform_tolerance: 0.5
 
 obstacle_layer:
   observation_sources: laser_scan_sensor
-
-laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+  obstacle_range: 2.5
+  raytrace_range: 3.0
+  laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index 3ee2d1e90b266da835853799657d4817e047b73b..e5547652cada16a7aedc4cee486d807fbc8709cc 100644 (file)
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,9 +5,9 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 6.0
-  height: 6.0
-  resolution: 0.05
+  width: 10.0
+  height: 10.0
+  resolution: 0.01
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

diff --git a/config/map.pgm b/config/map.pgm
deleted file mode 100644 (file)
index 3d53230..0000000
--- a/config/map.pgm
+++ /dev/null
@@ -1,5 +0,0 @@
-P5
-# CREATOR: GIMP PNM Filter Version 1.1
-400 400
-255
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diff --git a/config/map.png b/config/map.png
new file mode 100644 (file)
index 0000000..edbf44f
Binary files /dev/null and b/config/map.png differ

diff --git a/move_base.launch b/move_base.launch
index 8d46da1af9245e6c5ae965ddb4c1808f69db840e..cd1ef67c6869446f9ce8426a283926688ab2b214 100644 (file)
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,13 +1,15 @@
 <?xml version="1.0"?>
 <launch>
+       <node pkg="arm" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" />
+
        <!-- Run the map server -->
-       <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.pgm 0.05"/>
+       <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
 
        <!-- Run AMCL -->
        <include file="$(find amcl)/examples/amcl_diff.launch" />
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-               <param name="controller_frequency" value="2.0" />
+               <param name="controller_frequency" value="10.0" />
                <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
                <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
                <rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
new file mode 100755 (executable)
index 0000000..29462c8
--- /dev/null
+++ b/scripts/arm_ros_conn.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import rospy
+import tf
+import prctl
+#import cProfile
+import threading
+from json_client import JsonClient
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+
+class ARMRosConn():
+       def __init__(self):
+               rospy.init_node('arm')
+               prctl.set_name("arm_ros_bridge")
+               self.__lock_cmd = threading.Lock()
+               self.pComm = JsonClient(("arm", 10002))
+
+               rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+               self.sub_scan = None
+               self.motion_enabled_last = None
+               self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
+               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+
+               self.run()
+
+       def command(self, cmd):
+               with self.__lock_cmd:
+                       return self.pComm.write(cmd)
+
+       def run(self):
+               rate = rospy.Rate(10.0)
+               #pr = cProfile.Profile()
+               #pr.enable()
+               while not rospy.is_shutdown():
+                       self.send_odometry()
+
+                       rate.sleep()
+               #pr.disable()
+               #pr.dump_stats("/tmp/test.stats")
+
+       def send_odometry(self):
+               current_time = rospy.Time.now()
+                lPos, fAngle, lSpeed = self.command("get engine pose")
+
+               # since all odometry is 6DOF we'll need a quaternion created from yaw
+               odom_quat = tf.transformations.quaternion_from_euler(0, 0, fAngle)
+
+               # first, we'll publish the transform over tf
+               self.tf_broadcaster.sendTransform((lPos[0], lPos[1], 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 = lPos[0]
+               odom.pose.pose.position.y = lPos[1]
+               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 = lSpeed[0]
+               odom.twist.twist.linear.y = 0.0
+               odom.twist.twist.angular.z = lSpeed[1]
+
+               # publish the message
+               self.pub_odom.publish(odom)
+
+       # 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
+
+               self.command("set engine speed %f %f" % (trans, rot))
+
+if __name__ == '__main__':
+       ARMRosConn()

diff --git a/scripts/json_client.py b/scripts/json_client.py
new file mode 100755 (executable)
index 0000000..4e2208e
--- /dev/null
+++ b/scripts/json_client.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import socket
+import json
+
+def set_keepalive(sock, after_idle_sec=1, interval_sec=3, max_fails=5):
+       """Set TCP keepalive on an open socket.
+
+       It activates after 1 second (after_idle_sec) of idleness,
+       then sends a keepalive ping once every 3 seconds (interval_sec),
+       and closes the connection after 5 failed ping (max_fails), or 15 seconds
+       """
+       sock.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
+       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, after_idle_sec)
+       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, interval_sec)
+       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, max_fails)
+if not hasattr(socket, "set_keepalive"):
+       socket.set_keepalive = set_keepalive
+
+class JsonClient:
+       def __init__(self, addr = ("arm", 10002)):
+               self.pSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+               self.pSocket.settimeout(1)
+               socket.set_keepalive(self.pSocket)
+               self.pSocket.connect(addr)
+               self.lMsgs = []
+
+       def write(self, cmd):
+               data = {'command': cmd}
+               num = self.pSocket.sendall(json.dumps(data))
+               while True:
+                       msg = json.loads(self.pSocket.recv(4096))
+                       if msg.has_key("return"): return msg["return"]
+                       elif msg.has_key("error"): return msg["error"]
+                       self.lMsgs.insert(0, msg)
+
+       def read(self):
+               if len(self.lMsgs) > 0:
+                       return self.lMsgs.pop()
+               self.pSocket.setblocking(False)
+               try:
+                       return json.loads(self.pSocket.recv(4096))
+               except socket.error:
+                       pass
+               finally:
+                       self.pSocket.setblocking(True)
+
+if __name__ == "__main__":
+       print JsonClient().write(sys.argv[1])
+
+       #from datetime import datetime
+       #from time import sleep
+       #pClient = JsonClient()
+       #while True:
+       #       msg = pClient.read()
+       #       if msg:
+       #               print "Got async", msg
+       #       print datetime.now(), float(pClient.write("get distance forward lower"))
+       #       sleep(0.1)