scripts/wt_node.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import rospy
   5 import tf
   6 import struct
   7 import thread
   8 import prctl
   9 import spidev
  10 from time import sleep
  11 from i2c import i2c, i2c_write_reg, i2c_read_reg
  12 from math import *
  13 from geometry_msgs.msg import Twist
  14 from nav_msgs.msg import Odometry
  15 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
  16 from dynamic_reconfigure.server import Server
  17 from sensor_msgs.msg import Imu, Range, BatteryState
  18 from wild_thumper.cfg import WildThumperConfig
  19 from std_srvs.srv import SetBool, SetBoolResponse
  20
  21 WHEEL_DIST = 0.248
  22 BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100
  23 UPDATE_RATE = 20.0
  24
  25 class WTBase:
  26         def __init__(self):
  27                 rospy.init_node('wild_thumper')
  28                 prctl.set_name("wild_thumper")
  29                 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
  30                 if enable_odom_tf:
  31                         self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
  32                 else:
  33                         self.tf_broadcaster = None
  34                 self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
  35                 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
  36                 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
  37                 self.pub_range_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
  38                 self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
  39                 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
  40                 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
  41                 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
  42                 self.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
  43                 self.cmd_vel = None
  44                 self.cur_vel = (0, 0)
  45                 self.bMotorManual = False
  46                 self.set_speed(0, 0)
  47                 self.volt_last_warn = rospy.Time.now()
  48                 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
  49                 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
  50                 rospy.Subscriber("imu", Imu, self.imuReceived)
  51                 rospy.Service('~manipulator_enable', SetBool, self.enableManipulator)
  52                 self.bDocked = False
  53                 self.bDocked_last = False
  54                 self.battery_capacity = BATTERY_CAPACITY_FULL*3600 # As
  55                 rospy.loginfo("Init done")
  56                 self.run()
  57
  58         def run(self):
  59                 rate = rospy.Rate(UPDATE_RATE)
  60                 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
  61                 reset_val = self.get_reset()
  62                 rospy.loginfo("Reset Status: 0x%x" % reset_val)
  63                 ir_count = 0
  64                 sonar_count = 0
  65                 i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
  66                 while not rospy.is_shutdown():
  67                         rospy.logdebug("Loop alive")
  68                         #print "Watchdog", struct.unpack(">B", i2c_read_reg(0x50, 0xA4, 1))[0]
  69                         #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
  70                         self.get_motor_err()
  71                         self.get_odom()
  72                         self.get_power()
  73
  74                         if ir_count == 0:
  75                                 self.get_dist_left()
  76                                 ir_count+=1
  77                         else:
  78                                 self.get_dist_right()
  79                                 ir_count=0
  80
  81                         if sonar_count == 0:
  82                                 self.get_dist_forward_left()
  83                                 self.update_dist_backward()
  84                                 sonar_count+=1
  85                         elif sonar_count == 1:
  86                                 self.get_dist_backward()
  87                                 self.update_dist_forward_right()
  88                                 sonar_count+=1
  89                         elif sonar_count == 2:
  90                                 self.get_dist_forward_right()
  91                                 self.update_dist_forward_left()
  92                                 sonar_count=0
  93
  94                         if self.cmd_vel != None:
  95                                 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
  96                                 self.cur_vel = self.cmd_vel
  97                                 self.cmd_vel = None
  98
  99                         self.check_docked()
 100                         rate.sleep()
 101
 102         def execute_dyn_reconf(self, config, level):
 103                 self.bClipRangeSensor = config["range_sensor_clip"]
 104                 self.range_sensor_max = config["range_sensor_max"]
 105                 self.range_sensor_fov = config["range_sensor_fov"]
 106                 self.odom_covar_xy = config["odom_covar_xy"]
 107                 self.odom_covar_angle = config["odom_covar_angle"]
 108                 self.rollover_protect = config["rollover_protect"]
 109                 self.rollover_protect_limit = config["rollover_protect_limit"]
 110                 self.rollover_protect_pwm = config["rollover_protect_pwm"]
 111                 self.bStayDocked = config["stay_docked"]
 112
 113                 return config
 114
 115         def imuReceived(self, msg):
 116                 if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
 117                         (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 118                         if pitch > self.rollover_protect_limit*pi/180:
 119                                 self.bMotorManual = True
 120                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
 121                                 rospy.logwarn("Running forward rollver protection")
 122                         elif pitch < -self.rollover_protect_limit*pi/180:
 123                                 self.bMotorManual = True
 124                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
 125                                 rospy.logwarn("Running backward rollver protection")
 126                         elif self.bMotorManual:
 127                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
 128                                 self.bMotorManual = False
 129                                 self.cmd_vel = (0, 0)
 130                                 rospy.logwarn("Rollver protection done")
 131
 132         def get_reset(self):
 133                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 134
 135                 msg = DiagnosticArray()
 136                 msg.header.stamp = rospy.Time.now()
 137                 stat = DiagnosticStatus()
 138                 stat.name = "Reset reason"
 139                 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
 140                 stat.message = "0x%02x" % reset
 141
 142                 wdrf = bool(reset & (1 << 3))
 143                 if wdrf: rospy.loginfo("Watchdog Reset")
 144                 borf = bool(reset & (1 << 2))
 145                 if borf: rospy.loginfo("Brown-out Reset Flag")
 146                 extrf = bool(reset & (1 << 1))
 147                 if extrf: rospy.loginfo("External Reset Flag")
 148                 porf = bool(reset & (1 << 0))
 149                 if porf: rospy.loginfo("Power-on Reset Flag")
 150                 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
 151                 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
 152                 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
 153                 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
 154
 155                 msg.status.append(stat)
 156                 self.pub_diag.publish(msg)
 157                 return reset
 158
 159
 160         def get_motor_err(self):
 161                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
 162
 163                 msg = DiagnosticArray()
 164                 msg.header.stamp = rospy.Time.now()
 165                 stat = DiagnosticStatus()
 166                 stat.name = "Motor: Error Status"
 167                 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
 168                 stat.message = "0x%02x" % err
 169
 170                 # Diag
 171                 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
 172                 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
 173                 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
 174                 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
 175                 # Stall
 176                 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
 177                 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
 178                 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
 179                 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
 180
 181                 msg.status.append(stat)
 182                 self.pub_diag.publish(msg)
 183
 184         def get_power(self):
 185                 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
 186                 current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
 187
 188                 msg = DiagnosticArray()
 189                 msg.header.stamp = rospy.Time.now()
 190                 stat = DiagnosticStatus()
 191                 stat.name = "Power"
 192                 stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK
 193                 stat.message = "%.2fV, %.2fA" % (volt, current)
 194
 195                 msg.status.append(stat)
 196                 self.pub_diag.publish(msg)
 197
 198                 if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
 199                         rospy.logerr("Voltage critical: %.2fV" % (volt))
 200                         self.volt_last_warn = rospy.Time.now()
 201
 202                 self.bDocked = volt > 10.1
 203                 self.update_capacity(volt, current)
 204
 205                 if self.pub_battery.get_num_connections() > 0:
 206                         batmsg = BatteryState()
 207                         batmsg.header.stamp = rospy.Time.now()
 208                         batmsg.voltage = volt
 209                         batmsg.current = current
 210                         batmsg.charge = self.battery_capacity/3600.0
 211                         batmsg.capacity = float('nan')
 212                         batmsg.design_capacity = BATTERY_CAPACITY_FULL
 213                         batmsg.percentage = batmsg.charge/batmsg.design_capacity
 214                         batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
 215                         batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
 216                         batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
 217                         batmsg.present = True
 218                         self.pub_battery.publish(batmsg)
 219
 220         def update_capacity(self, volt, current):
 221                 if self.bDocked:
 222                         self.battery_capacity = BATTERY_CAPACITY_FULL*3600
 223                 else:
 224                         self.battery_capacity -= current/UPDATE_RATE
 225
 226         def get_odom(self):
 227                 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
 228                 current_time = rospy.Time.now()
 229
 230                 # since all odometry is 6DOF we'll need a quaternion created from yaw
 231                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 232
 233                 # first, we'll publish the transform over tf
 234                 if self.tf_broadcaster is not None:
 235                         self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
 236
 237                 # next, we'll publish the odometry message over ROS
 238                 odom = Odometry()
 239                 odom.header.stamp = current_time
 240                 odom.header.frame_id = "odom"
 241
 242                 # set the position
 243                 odom.pose.pose.position.x = posx
 244                 odom.pose.pose.position.y = posy
 245                 odom.pose.pose.position.z = 0.0
 246                 odom.pose.pose.orientation.x = odom_quat[0]
 247                 odom.pose.pose.orientation.y = odom_quat[1]
 248                 odom.pose.pose.orientation.z = odom_quat[2]
 249                 odom.pose.pose.orientation.w = odom_quat[3]
 250                 odom.pose.covariance[0] = self.odom_covar_xy # x
 251                 odom.pose.covariance[7] = self.odom_covar_xy # y
 252                 odom.pose.covariance[14] = self.odom_covar_xy # z
 253                 odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
 254                 odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
 255                 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 256
 257                 # set the velocity
 258                 odom.child_frame_id = "base_footprint"
 259                 odom.twist.twist.linear.x = speed_trans
 260                 odom.twist.twist.linear.y = 0.0
 261                 odom.twist.twist.linear.z = 0.0
 262                 odom.twist.twist.angular.z = speed_rot
 263                 odom.twist.covariance = odom.pose.covariance
 264
 265                 # publish the message
 266                 self.pub_odom.publish(odom)
 267
 268
 269         def set_speed(self, trans, rot):
 270                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 271
 272         def cmdVelReceived(self, msg):
 273                 if not self.bMotorManual:
 274                         rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
 275                         self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
 276                         rospy.logdebug("Set new cmd_vel done")
 277
 278         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 279         def get_dist_ir(self, num):
 280                 dev = i2c(0x52)
 281                 s = struct.pack("B", num)
 282                 dev.write(s)
 283                 dev.close()
 284
 285                 sleep(2e-6)
 286
 287                 dev = i2c(0x52)
 288                 s = dev.read(2)
 289                 dev.close()
 290
 291                 val = struct.unpack(">H", s)[0]
 292                 return val
 293
 294         def start_dist_srf(self, num):
 295                 dev = i2c(0x52)
 296                 s = struct.pack("B", num)
 297                 dev.write(s)
 298                 dev.close()
 299
 300         def read_dist_srf(self, num):
 301                 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 302
 303         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
 304                 if self.bClipRangeSensor and dist > max_range:
 305                         dist = max_range
 306                 msg = Range()
 307                 msg.header.stamp = rospy.Time.now()
 308                 msg.header.frame_id = frame_id
 309                 msg.radiation_type = typ
 310                 msg.field_of_view = fov_deg*pi/180
 311                 msg.min_range = min_range
 312                 msg.max_range = max_range
 313                 msg.range = dist
 314                 pub.publish(msg)
 315
 316         def get_dist_left(self):
 317                 if self.pub_range_left.get_num_connections() > 0:
 318                         dist = self.get_dist_ir(0x1)
 319                         if dist > -67:
 320                                 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
 321
 322         def get_dist_right(self):
 323                 if self.pub_range_right.get_num_connections() > 0:
 324                         dist = self.get_dist_ir(0x3)
 325                         if dist > 69:
 326                                 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
 327
 328         def get_dist_forward_left(self):
 329                 if self.pub_range_fwd_left.get_num_connections() > 0:
 330                         dist = self.read_dist_srf(0x15)
 331                         self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
 332
 333         def update_dist_forward_left(self):
 334                 if self.pub_range_fwd_left.get_num_connections() > 0:
 335                         self.start_dist_srf(0x5)
 336
 337         def get_dist_backward(self):
 338                 if self.pub_range_bwd.get_num_connections() > 0:
 339                         dist = self.read_dist_srf(0x17)
 340                         self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
 341
 342         def update_dist_backward(self):
 343                 if self.pub_range_bwd.get_num_connections() > 0:
 344                         self.start_dist_srf(0x7)
 345
 346         def get_dist_forward_right(self):
 347                 if self.pub_range_fwd_right.get_num_connections() > 0:
 348                         dist = self.read_dist_srf(0x19)
 349                         self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
 350
 351         def update_dist_forward_right(self):
 352                 if self.pub_range_fwd_right.get_num_connections() > 0:
 353                         self.start_dist_srf(0xb)
 354
 355         def check_docked(self):
 356                 if self.bDocked and not self.bDocked_last:
 357                         rospy.loginfo("Docking event")
 358                 elif not self.bDocked and self.bDocked_last:
 359                         if not self.bStayDocked or self.cur_vel != (0, 0):
 360                                 rospy.loginfo("Undocking event")
 361                         else:
 362                                 rospy.loginfo("Undocking event..redocking")
 363                                 thread.start_new_thread(self.redock, ())
 364
 365                 self.bDocked_last = self.bDocked
 366
 367         def redock(self):
 368                 self.cmd_vel = (-0.1, 0)
 369                 for i in range(100):
 370                         if self.bDocked:
 371                                 break
 372                         sleep(0.01)
 373                 self.cmd_vel = (0, 0)
 374                 if self.bDocked:
 375                         rospy.loginfo("Redocking done")
 376                 else:
 377                         rospy.logerr("Redocking failed")
 378
 379         def enableManipulator(self, msg):
 380                 rospy.loginfo("Set Manipulator: %d", msg.data)
 381                 i2c_write_reg(0x52, 0x0f, chr(msg.data))
 382                 return SetBoolResponse(True, "")
 383
 384 if __name__ == "__main__":
 385         WTBase()