2 # -*- coding: iso-8859-15 -*-
10 from i2c import i2c, i2c_write_reg, i2c_read_reg
12 from geometry_msgs.msg import Twist
13 from nav_msgs.msg import Odometry
14 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
15 from sensor_msgs.msg import Imu, Range
16 from wild_thumper.msg import LedStripe
17 from dynamic_reconfigure.server import Server
18 from wild_thumper.cfg import WildThumperConfig
23 def __init__(self, bus, device, num_leds):
24 self.spi = spidev.SpiDev()
25 self.spi.open(bus, device)
27 self.spi.max_speed_hz=int(2e6)
28 self.num_leds = num_leds
30 self.l = [(0, 0, 0)] * num_leds
33 def set(self, i, red=0, green=0, blue=0):
34 if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
35 raise Exception("Bad RGB Value")
36 self.l[i] = (red, green, blue)
39 self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
43 for i in range(self.num_leds):
44 red, green, blue = self.l[i]
45 l.append(0x80 | green)
48 self.spi.writebytes(l)
53 rospy.init_node('wild_thumper')
54 prctl.set_name("wild_thumper")
55 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
57 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
59 self.tf_broadcaster = None
60 self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
61 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
62 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
63 self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
64 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
65 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
66 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
68 self.bMotorManual = False
70 rospy.loginfo("Init done")
71 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
72 self.pStripe = LPD8806(1, 0, 12)
73 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
74 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
75 rospy.Subscriber("imu", Imu, self.imuReceived)
79 rate = rospy.Rate(20.0)
80 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
81 reset_val = self.get_reset()
82 rospy.loginfo("Reset Status: 0x%x" % reset_val)
84 while not rospy.is_shutdown():
85 rospy.logdebug("Loop alive")
86 #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
91 self.get_dist_forward()
94 self.get_dist_backward()
97 if self.cmd_vel != None:
98 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
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.odom_covar_xy = config["odom_covar_xy"]
106 self.odom_covar_angle = config["odom_covar_angle"]
107 self.rollover_protect = config["rollover_protect"]
108 self.rollover_protect_limit = config["rollover_protect_limit"]
109 self.rollover_protect_pwm = config["rollover_protect_pwm"]
113 def imuReceived(self, msg):
114 if self.rollover_protect:
115 (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
116 if pitch > self.rollover_protect_limit*pi/180:
117 self.bMotorManual = True
118 i2c_write_reg(0x50, 0x3, struct.pack(">h", self.rollover_protect_pwm))
119 i2c_write_reg(0x50, 0x7, struct.pack(">h", self.rollover_protect_pwm))
120 elif pitch < -self.rollover_protect_limit*pi/180:
121 self.bMotorManual = True
122 i2c_write_reg(0x50, 0x1, struct.pack(">h", -self.rollover_protect_pwm))
123 i2c_write_reg(0x50, 0x5, struct.pack(">h", -self.rollover_protect_pwm))
124 elif self.bMotorManual:
125 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
126 self.bMotorManual = False
129 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
131 msg = DiagnosticArray()
132 msg.header.stamp = rospy.Time.now()
133 stat = DiagnosticStatus()
134 stat.name = "Reset reason"
135 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
136 stat.message = "0x%02x" % reset
138 wdrf = bool(reset & (1 << 3))
139 if wdrf: rospy.loginfo("Watchdog Reset")
140 borf = bool(reset & (1 << 2))
141 if borf: rospy.loginfo("Brown-out Reset Flag")
142 extrf = bool(reset & (1 << 1))
143 if extrf: rospy.loginfo("External Reset Flag")
144 porf = bool(reset & (1 << 0))
145 if porf: rospy.loginfo("Power-on Reset Flag")
146 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
147 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
148 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
149 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
151 msg.status.append(stat)
152 self.pub_diag.publish(msg)
156 def get_motor_err(self):
157 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
159 msg = DiagnosticArray()
160 msg.header.stamp = rospy.Time.now()
161 stat = DiagnosticStatus()
162 stat.name = "Motor: Error Status"
163 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
164 stat.message = "0x%02x" % err
167 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
168 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
169 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
170 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
172 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
173 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
174 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
175 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
177 msg.status.append(stat)
178 self.pub_diag.publish(msg)
180 def get_voltage(self):
181 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
183 msg = DiagnosticArray()
184 msg.header.stamp = rospy.Time.now()
185 stat = DiagnosticStatus()
186 stat.name = "Voltage"
187 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
188 stat.message = "%.2fV" % volt
190 msg.status.append(stat)
191 self.pub_diag.publish(msg)
195 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
196 current_time = rospy.Time.now()
198 # since all odometry is 6DOF we'll need a quaternion created from yaw
199 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
201 # first, we'll publish the transform over tf
202 if self.tf_broadcaster is not None:
203 self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
205 # next, we'll publish the odometry message over ROS
207 odom.header.stamp = current_time
208 odom.header.frame_id = "odom"
211 odom.pose.pose.position.x = posx
212 odom.pose.pose.position.y = posy
213 odom.pose.pose.position.z = 0.0
214 odom.pose.pose.orientation.x = odom_quat[0]
215 odom.pose.pose.orientation.y = odom_quat[1]
216 odom.pose.pose.orientation.z = odom_quat[2]
217 odom.pose.pose.orientation.w = odom_quat[3]
218 odom.pose.covariance[0] = self.odom_covar_xy # x
219 odom.pose.covariance[7] = self.odom_covar_xy # y
220 odom.pose.covariance[14] = 99999 # z
221 odom.pose.covariance[21] = 99999 # rotation about X axis
222 odom.pose.covariance[28] = 99999 # rotation about Y axis
223 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
226 odom.child_frame_id = "base_footprint"
227 odom.twist.twist.linear.x = speed_trans
228 odom.twist.twist.linear.y = 0.0
229 odom.twist.twist.angular.z = speed_rot
230 odom.twist.covariance = odom.pose.covariance
232 # publish the message
233 self.pub_odom.publish(odom)
236 def set_speed(self, trans, rot):
237 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
239 def cmdVelReceived(self, msg):
240 if not self.bMotorManual:
241 rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
242 self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
243 rospy.logdebug("Set new cmd_vel done")
245 # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
246 def get_dist_ir(self, num):
248 s = struct.pack("B", num)
258 val = struct.unpack(">H", s)[0]
261 def start_dist_srf(self, num):
263 s = struct.pack("B", num)
267 def read_dist_srf(self, num):
268 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
270 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
271 if self.bClipRangeSensor and dist > max_range:
274 msg.header.stamp = rospy.Time.now()
275 msg.header.frame_id = frame_id
276 msg.radiation_type = typ
277 msg.field_of_view = fov_deg*pi/180
278 msg.min_range = min_range
279 msg.max_range = max_range
283 def get_dist_left(self):
284 if self.pub_range_left.get_num_connections() > 0:
285 dist = self.get_dist_ir(0x1)
287 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
289 def get_dist_right(self):
290 if self.pub_range_right.get_num_connections() > 0:
291 dist = self.get_dist_ir(0x3)
293 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
295 def get_dist_forward(self):
296 if self.pub_range_fwd.get_num_connections() > 0:
297 dist = self.read_dist_srf(0x15)
298 self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
299 self.start_dist_srf(0x5) # get next value
301 def get_dist_backward(self):
302 if self.pub_range_bwd.get_num_connections() > 0:
303 dist = self.read_dist_srf(0x17)
304 self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
305 self.start_dist_srf(0x7) # get next value
307 def led_stripe_received(self, msg):
309 self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
310 self.pStripe.update()
313 if __name__ == "__main__":