From c3307ab04ec14a48e15833c0894d9518d49613cf Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 18 Nov 2016 21:14:53 +0100 Subject: [PATCH] -added dynamic reconfiguration for wt_node -tune max sonar range with dynamic reconfigure -clip sonar range to max --- CMakeLists.txt | 1 + config/razor.yaml | 4 ++-- config/wt_node.cfg | 10 ++++++++++ launch/teleop.launch | 2 +- scripts/wt_node.py | 14 ++++++++++++-- 5 files changed, 26 insertions(+), 5 deletions(-) create mode 100755 config/wt_node.cfg diff --git a/CMakeLists.txt b/CMakeLists.txt index fe6d50a..2b9c873 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -68,6 +68,7 @@ generate_messages( generate_dynamic_reconfigure_options( config/path_following.cfg + config/wt_node.cfg ) ################################### diff --git a/config/razor.yaml b/config/razor.yaml index cb81148..3186e94 100644 --- a/config/razor.yaml +++ b/config/razor.yaml @@ -23,8 +23,8 @@ magn_z_max: 596 # extended calibration calibration_magn_use_extended: true -magn_ellipsoid_center: [328.442, 29.7813, -414.405] -magn_ellipsoid_transform: [[0.912198, -0.0995186, 0.00347704], [-0.0995186, 0.879227, 0.0332387], [0.00347704, 0.0332387, 0.892227]] +magn_ellipsoid_center: [275.555, 42.7157, -390.911] +magn_ellipsoid_transform: [[0.933345, -0.0570043, 0.0301076], [-0.0570043, 0.950937, 0.0283306], [0.0301076, 0.0283306, 0.965042]] # AHRS to robot calibration imu_yaw_calibration: 0.0 diff --git a/config/wt_node.cfg b/config/wt_node.cfg new file mode 100755 index 0000000..45ad4eb --- /dev/null +++ b/config/wt_node.cfg @@ -0,0 +1,10 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("range_sensor_clip", bool_t, 0, "Clip range sensor values to max range", True) +gen.add("range_sensor_max", double_t, 0, "Range sensor max range", 0.5, 0.4, 6) + +exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper")) diff --git a/launch/teleop.launch b/launch/teleop.launch index 371ba01..18f083c 100644 --- a/launch/teleop.launch +++ b/launch/teleop.launch @@ -2,7 +2,7 @@ - + diff --git a/scripts/wt_node.py b/scripts/wt_node.py index 2de2f59..7254c1d 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -14,6 +14,8 @@ from nav_msgs.msg import Odometry from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue from sensor_msgs.msg import Imu, Range from wild_thumper.msg import LedStripe +from dynamic_reconfigure.server import Server +from wild_thumper.cfg import WildThumperConfig WHEEL_DIST = 0.248 @@ -55,6 +57,7 @@ class MoveBase: self.tf_broadcaster = tf.broadcaster.TransformBroadcaster() else: self.tf_broadcaster = None + self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf) 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) @@ -96,6 +99,11 @@ class MoveBase: self.cmd_vel = None rate.sleep() + def execute_dyn_reconf(self, config, level): + self.bClipRangeSensor = config["range_sensor_clip"] + self.range_sensor_max = config["range_sensor_max"] + return config + def set_motor_handicap(self, front, aft): # percent if front > 100: front = 100 if aft > 100: aft = 100 @@ -261,6 +269,8 @@ class MoveBase: return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg): + if self.bClipRangeSensor and dist > max_range: + dist = max_range msg = Range() msg.header.stamp = rospy.Time.now() msg.header.frame_id = frame_id @@ -286,13 +296,13 @@ class MoveBase: def get_dist_forward(self): if self.pub_range_fwd.get_num_connections() > 0: dist = self.read_dist_srf(0x15) - self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40) + self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) self.start_dist_srf(0x5) # get next value def get_dist_backward(self): if self.pub_range_bwd.get_num_connections() > 0: dist = self.read_dist_srf(0x17) - self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40) + self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) self.start_dist_srf(0x7) # get next value def led_stripe_received(self, msg): -- 2.39.5