+#!/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()
projects / arm_ros_conn.git / commitdiff
