scripts/robo_explorer.py

   1 #!/usr/bin/env python
   2 import roslib; roslib.load_manifest('roboint')
   3 import rospy
   4 import tf
   5 import tf.broadcaster
   6 import tf.transformations
   7 from math import sin, cos, pi
   8 from geometry_msgs.msg import Twist, TransformStamped, Point32
   9 from sensor_msgs.msg import LaserScan
  10 from nav_msgs.msg import Odometry
  11 from roboint.msg import Motor
  12 from roboint.msg import Inputs
  13
  14
  15 class RoboExplorer:
  16         def __init__(self):
  17                 rospy.init_node('robo_explorer')
  18
  19                 self.speed = (0, 0)
  20                 self.x = 0
  21                 self.y = 0
  22                 self.alpha = 0
  23                 self.last_in = None
  24                 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
  25                 self.last_time = rospy.Time.now()
  26                 self.x_last = 0
  27                 self.y_last = 0
  28                 self.alpha_last = 0
  29
  30                 self.enable_ultrasonic_laser = int(rospy.get_param('~ultrasonic_laser', "1"))
  31                 self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.188"))
  32                 self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255"))
  33
  34                 self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
  35                 if self.enable_ultrasonic_laser:
  36                         self.pub_scan = rospy.Publisher("scan", LaserScan)
  37                 self.pub_odom = rospy.Publisher("odom", Odometry)
  38
  39                 rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
  40                 rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
  41
  42                 rospy.spin()
  43
  44         def inputsReceived(self, msg):
  45                 current_time = rospy.Time.now()
  46
  47                 self.update_odometry(msg, current_time)
  48                 if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms
  49                         self.send_odometry(msg, current_time)
  50                         if self.enable_ultrasonic_laser:
  51                                 self.send_laser_scan(msg, current_time)
  52                         self.last_time = current_time
  53
  54         def update_odometry(self, msg, current_time):
  55                 in_now = msg.input[:2]
  56                 if self.last_in is not None:
  57                         in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs
  58                         # fix in_diff from actual motor direction
  59                         if self.speed[0] < 0:
  60                                 in_diff[0] = -in_diff[0]
  61                         elif self.speed[0] == 0:
  62                                 in_diff[0] = 0
  63                         if self.speed[1] < 0:
  64                                 in_diff[1] = -in_diff[1]
  65                         elif self.speed[1] == 0:
  66                                 in_diff[1] = 0
  67
  68                         dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8 # steps_changed in different direction => m
  69                         delta_alpha = dist_dir/self.wheel_dist
  70
  71                         dist = (in_diff[0] + in_diff[1])/2.0*self.wheel_size*pi/8 # steps_changed same direction => m
  72
  73                         delta_x = cos(self.alpha + delta_alpha/2)*dist
  74                         delta_y = sin(self.alpha + delta_alpha/2)*dist
  75
  76                         self.alpha += delta_alpha
  77                         if self.alpha > 2*pi:
  78                                 self.alpha -= 2*pi
  79                         elif self.alpha < -2*pi:
  80                                 self.alpha += 2*pi
  81                         self.x += delta_x
  82                         self.y += delta_y
  83
  84                 self.last_in = in_now
  85
  86         def send_odometry(self, msg, current_time):
  87                 # speeds
  88                 dt = (current_time - self.last_time).to_sec()
  89                 vx = (self.x - self.x_last) / dt
  90                 vy = (self.y - self.y_last) / dt
  91                 valpha = (self.alpha - self.alpha_last) / dt
  92                 self.x_last = self.x
  93                 self.y_last = self.y
  94                 self.alpha_last = self.alpha
  95
  96                 # since all odometry is 6DOF we'll need a quaternion created from yaw
  97                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha)
  98
  99                 # first, we'll publish the transform over tf
 100                 self.tf_broadcaster.sendTransform((self.x, self.y, 0.0), odom_quat, current_time, "base_link", "odom")
 101
 102                 # next, we'll publish the odometry message over ROS
 103                 odom = Odometry()
 104                 odom.header.stamp = current_time
 105                 odom.header.frame_id = "/odom"
 106
 107                 # set the position
 108                 odom.pose.pose.position.x = self.x
 109                 odom.pose.pose.position.y = self.y
 110                 odom.pose.pose.position.z = 0.0
 111                 odom.pose.pose.orientation.x = odom_quat[0]
 112                 odom.pose.pose.orientation.y = odom_quat[1]
 113                 odom.pose.pose.orientation.z = odom_quat[2]
 114                 odom.pose.pose.orientation.w = odom_quat[3]
 115
 116                 # set the velocity
 117                 odom.child_frame_id = "base_link"
 118                 odom.twist.twist.linear.x = vx
 119                 odom.twist.twist.linear.y = vy
 120                 odom.twist.twist.angular.z = valpha
 121
 122                 # publish the message
 123                 self.pub_odom.publish(odom)
 124
 125         def send_laser_scan(self, msg, current_time):
 126                 # first, we'll publish the transform over tf
 127                 self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link")
 128
 129                 # actually ultra sonic range finder
 130                 num_points = 60 # The base planner needs at least 30 points to work in the default config
 131                 opening_angle = 30*pi/180 # each side
 132                 scan = LaserScan()
 133                 scan.header.stamp = current_time
 134                 scan.header.frame_id = "/scan"
 135                 scan.angle_min = -opening_angle
 136                 scan.angle_max = opening_angle
 137                 scan.angle_increment = (2*opening_angle)/num_points
 138                 scan.time_increment = 0.0
 139                 scan.range_min = 0.0
 140                 scan.range_max = 4.0
 141                 for i in range(num_points):
 142                         scan.ranges.append(msg.d1/100.0)
 143                 #scan.intensities.append(0.5)
 144                 #scan.intensities.append(1.0)
 145                 #scan.intensities.append(0.5)
 146                 self.pub_scan.publish(scan)
 147
 148         # test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]'
 149         def cmdVelReceived(self, msg):
 150                 trans = msg.linear.x
 151                 rot = msg.angular.z # rad/s
 152
 153                 # handle rotation as offset to speeds
 154                 speed_offset = (rot * self.wheel_dist)/2.0 # m/s
 155
 156                 # handle translation
 157                 speed_l = 0
 158                 wish_speed_left = trans - speed_offset
 159                 if abs(wish_speed_left) > 1.7/64.3:
 160                         speed_l = 64.3*abs(wish_speed_left) - 1.7
 161                         if wish_speed_left < 0:
 162                                 speed_l*=-1
 163                 speed_r = 0
 164                 wish_speed_right = trans + speed_offset
 165                 if abs(wish_speed_right) > 1.7/64.3:
 166                         speed_r = 64.3*abs(wish_speed_right) - 1.7
 167                         if wish_speed_right < 0:
 168                                 speed_r*=-1
 169
 170                 # check limits
 171                 if speed_l < -7: speed_l = -7
 172                 elif speed_l > 7: speed_l = 7
 173                 if speed_r < -7: speed_r = -7
 174                 elif speed_r > 7: speed_r = 7
 175
 176                 #print "Speed wanted: %.2f %.2f, set: %d %d" % (trans, rot*180/pi, round(speed_l), round(speed_r))
 177
 178                 outmsg = Motor()
 179                 outmsg.num = 1
 180                 outmsg.speed = round(speed_l)
 181                 self.pub_motor.publish(outmsg)
 182
 183                 outmsg = Motor()
 184                 outmsg.num = 2
 185                 outmsg.speed = round(speed_r)
 186                 self.pub_motor.publish(outmsg)
 187
 188                 self.speed = (speed_l, speed_r)
 189
 190 if __name__ == '__main__':
 191         RoboExplorer()