-added arm_ros_conn

[arm_ros_conn.git] / scripts / arm_ros_conn.py

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()