#!/usr/bin/env python
import roslib; roslib.load_manifest('roboint')
import rospy
-import tf
-from math import sin, cos, pi
-from geometry_msgs.msg import Twist, TransformStamped, Point32
-from sensor_msgs.msg import PointCloud
-from nav_msgs.msg import Odometry
-from roboint.msg import Motor
+from math import *
+from sensor_msgs.msg import Range
from roboint.msg import Inputs
class RoboExplorer:
def __init__(self):
rospy.init_node('robo_explorer')
-
- rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
- rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
-
- self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
- self.pub_cloud = rospy.Publisher("point_cloud", PointCloud)
- self.pub_odom = rospy.Publisher("odom", Odometry)
- self.wheel_dist = 0.188 # 18.8cm
- self.wheel_size = 0.052*0.5 # 5.1cm gear ration=0.5
- self.speed = (0, 0)
- self.x = 0
- self.y = 0
- self.alpha = 0
- self.last_in = [0, 0]
- self.odom_broadcaster = tf.TransformBroadcaster()
self.last_time = rospy.Time.now()
+ self.pub_sonar = rospy.Publisher("sonar", Range, queue_size=16)
+ rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
rospy.spin()
-
+
def inputsReceived(self, msg):
current_time = rospy.Time.now()
- dt = (current_time - self.last_time).to_sec();
- in_now = msg.input[1:3]
- in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs
- if self.speed[0] < 0:
- in_diff[0] = -in_diff[0]
- if self.speed[1] < 0:
- in_diff[1] = -in_diff[1]
-
- dist_dir = (in_diff[1] - in_diff[0])*self.wheel_size*pi/8
- delta_alpha = dist_dir/self.wheel_dist
-
- dist = (in_diff[0] + in_diff[1])/2.0*self.wheel_size*pi/8
-
- delta_x = cos(self.alpha + delta_alpha/2)*dist
- delta_y = sin(self.alpha + delta_alpha/2)*dist
-
- self.alpha += delta_alpha
- if self.alpha > 2*pi:
- self.alpha -= 2*pi
- elif self.alpha < -2*pi:
- self.alpha += 2*pi
- self.x += delta_x
- self.y += delta_y
-
- # speeds
- vx = delta_x / dt
- vy = delta_y / dt
- valpha = delta_alpha / dt
-
- # since all odometry is 6DOF we'll need a quaternion created from yaw
- odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha)
-
- # first, we'll publish the transform over tf
- self.odom_broadcaster.sendTransform((0.0, 0.0, 0.0), odom_quat, current_time, "odom", "base_link");
-
- # 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 = self.x
- odom.pose.pose.position.y = self.y
- odom.pose.pose.position.z = 0.0
- odom.pose.pose.orientation = odom_quat
-
- # set the velocity
- odom.child_frame_id = "base_link";
- odom.twist.twist.linear.x = vx
- odom.twist.twist.linear.y = vy
- odom.twist.twist.angular.z = valpha
-
- # publish the message
- self.pub_odom.publish(odom)
-
- # sent PointCloud
- cloud = PointCloud()
- cloud.header.stamp = current_time
- cloud.header.frame_id = "sensor_frame"
- cloud.points.append(Point32(msg.d1/10.0, 0, 0))
- self.pub_cloud.publish(cloud)
-
- self.last_time = current_time
- self.last_in = in_now
-
-
- def cmdVelReceived(self, msg):
- trans = msg.linear.x
- rot = msg.angular.z
-
- # speed steps = 7
- # max trans = 0.1m/s
- # max rot = 0.29rad/s
-
- speed_l = int(trans*7/0.1 - rot*7/0.29)
- speed_r = int(trans*7/0.1 + rot*7/0.29)
- if speed_l < -7: speed_l = -7
- elif speed_l > 7: speed_l = 7
- if speed_r < -7: speed_r = -7
- elif speed_r > 7: speed_r = 7
-
- outmsg = Motor()
- outmsg.num = 1
- outmsg.speed = speed_l
- self.pub_motor.publish(outmsg)
-
- outmsg = Motor()
- outmsg.num = 2
- outmsg.speed = speed_r
- self.pub_motor.publish(outmsg)
-
- self.speed = (speed_l, speed_r)
+ #self.update_odometry(msg, current_time)
+ if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms
+ #self.send_odometry(msg, current_time)
+ self.send_range(msg, current_time)
+ self.last_time = current_time
+
+ def send_range(self, msg, current_time):
+ # ultra sonic range finder
+ scan = Range()
+ scan.header.stamp = current_time
+ scan.header.frame_id = "forward_sensor"
+ scan.radiation_type = 0
+ scan.field_of_view = 60*pi/180
+ scan.min_range = 0.0
+ scan.max_range = 4.0
+ scan.range = msg.d1/100.0
+ self.pub_sonar.publish(scan)
if __name__ == '__main__':
RoboExplorer()
projects / ros_roboint.git / blobdiff