From 4df288dbe41ff1d7e51fae3b0435d1c74f23cac2 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Fri, 10 Jul 2015 20:28:54 +0200
Subject: [PATCH] added range sensor messages
---
scripts/move_base.py | 43 ++++++++++++++++-----
urdf/wild_thumper.urdf.xacro | 74 +++++++++++++++++++++++++++++++++++-
2 files changed, 106 insertions(+), 11 deletions(-)
diff --git a/scripts/move_base.py b/scripts/move_base.py
index 09f823b..8f14c6c 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -9,7 +9,7 @@ from math import *
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
-from sensor_msgs.msg import Imu
+from sensor_msgs.msg import Imu, Range
WHEEL_DIST = 0.248
@@ -25,6 +25,10 @@ class MoveBase:
self.tf_broadcaster = None
self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
+ self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
+ self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
+ self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
+ self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
self.set_speed(0, 0)
rospy.loginfo("Init done")
i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
@@ -40,10 +44,10 @@ class MoveBase:
self.get_tle_err()
self.get_odom()
self.get_voltage()
- #self.get_dist_forward()
- #self.get_dist_backward()
- #self.get_dist_left()
- #self.get_dist_right()
+ self.get_dist_forward()
+ self.get_dist_backward()
+ self.get_dist_left()
+ self.get_dist_right()
rate.sleep()
def set_motor_handicap(self, front, aft): # percent
@@ -200,18 +204,37 @@ class MoveBase:
return struct.unpack(">H", s)[0]/1000.0
+ def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+ msg = Range()
+ msg.header.stamp = rospy.Time.now()
+ msg.header.frame_id = frame_id
+ msg.radiation_type = typ
+ msg.field_of_view = fov_deg*pi/180
+ msg.min_range = min_range
+ msg.max_range = max_range
+ msg.range = dist
+ pub.publish(msg)
+
def get_dist_left(self):
- dist = self.get_dist_ir(0x1)
+ if self.pub_range_left.get_num_connections() > 0:
+ dist = self.get_dist_ir(0x1)
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.1, 0.8, 5)
def get_dist_right(self):
- dist = self.get_dist_ir(0x3)
+ if self.pub_range_right.get_num_connections() > 0:
+ dist = self.get_dist_ir(0x3)
+ self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.1, 0.8, 5)
def get_dist_forward(self):
- dist = self.get_dist_srf(0x5)
+ if self.pub_range_fwd.get_num_connections() > 0:
+ dist = self.get_dist_srf(0x5)
+ self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 60)
def get_dist_backward(self):
- dist = self.get_dist_srf(0x7)
-
+ if self.pub_range_bwd.get_num_connections() > 0:
+ dist = self.get_dist_srf(0x7)
+ self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 60)
+
if __name__ == "__main__":
MoveBase()
diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index c783cff..4e78a87 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -5,7 +5,7 @@
<link name="base_link">
<visual>
- <origin xyz="0.09 -0.02 0.07" rpy="${PI} 0 ${-PI/2}"/>
+ <origin xyz="0.09 -0.022 0.07" rpy="${PI} 0 ${-PI/2}"/>
<geometry>
<mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
</geometry>
@@ -38,6 +38,54 @@
<origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
</xacro:asus_camera>
+ <link name="sonar_forward">
+ <visual>
+ <geometry>
+ <box size="0.016 0.044 0.02"/>
+ </geometry>
+ <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+ <material name="green">
+ <color rgba="0 1 0 0.8"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="sonar_backward">
+ <visual>
+ <geometry>
+ <box size="0.016 0.044 0.02"/>
+ </geometry>
+ <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+ <material name="green">
+ <color rgba="0 1 0 0.8"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="ir_left">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.046"/>
+ </geometry>
+ <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="ir_right">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.046"/>
+ </geometry>
+ <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="base_imu_link"/>
@@ -49,4 +97,28 @@
<child link="base_link"/>
<origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
</joint>
+
+ <joint name="sonar_forward_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="sonar_forward"/>
+ <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="sonar_backward_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="sonar_backward"/>
+ <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+ </joint>
+
+ <joint name="ir_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="ir_left"/>
+ <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
+ </joint>
+
+ <joint name="ir_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="ir_right"/>
+ <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+ </joint>
</robot>
--
2.39.5