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 prctl
   8 import spidev
   9 from time import sleep
  10 from i2c import i2c, i2c_write_reg, i2c_read_reg
  11 from math import *
  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 dynamic_reconfigure.server import Server
  16 from sensor_msgs.msg import Imu, Range, BatteryState
  17 from wild_thumper.msg import LedStripe
  18 from wild_thumper.cfg import WildThumperConfig
  19
  20 WHEEL_DIST = 0.248
  21
  22 class LPD8806:
  23         def __init__(self, bus, device, num_leds):
  24                 self.spi = spidev.SpiDev()
  25                 self.spi.open(bus, device)
  26                 self.spi.mode=0b00
  27                 self.spi.max_speed_hz=int(2e6)
  28                 self.num_leds = num_leds
  29                 self.latch()
  30                 self.l = [(0, 0, 0)] * num_leds
  31                 self.update()
  32
  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)
  37
  38         def latch(self):
  39                 self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
  40
  41         def update(self):
  42                 l = []
  43                 for i in range(self.num_leds):
  44                         red, green, blue = self.l[i]
  45                         l.append(0x80 | green)
  46                         l.append(0x80 | red)
  47                         l.append(0x80 | blue)
  48                 self.spi.writebytes(l)
  49                 self.latch()
  50
  51 class MoveBase:
  52         def __init__(self):
  53                 rospy.init_node('wild_thumper')
  54                 prctl.set_name("wild_thumper")
  55                 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
  56                 if enable_odom_tf:
  57                         self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
  58                 else:
  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_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
  64                 self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
  65                 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
  66                 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
  67                 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
  68                 self.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
  69                 self.cmd_vel = None
  70                 self.cur_vel = (0, 0)
  71                 self.bMotorManual = False
  72                 self.set_speed(0, 0)
  73                 self.volt_last_warn = rospy.Time.now()
  74                 rospy.loginfo("Init done")
  75                 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
  76                 self.pStripe = LPD8806(1, 0, 12)
  77                 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
  78                 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
  79                 rospy.Subscriber("imu", Imu, self.imuReceived)
  80                 self.run()
  81
  82         def run(self):
  83                 rate = rospy.Rate(20.0)
  84                 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
  85                 reset_val = self.get_reset()
  86                 rospy.loginfo("Reset Status: 0x%x" % reset_val)
  87                 ir_count = 0
  88                 sonar_count = 0
  89                 while not rospy.is_shutdown():
  90                         rospy.logdebug("Loop alive")
  91                         #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
  92                         self.get_motor_err()
  93                         self.get_odom()
  94                         self.get_voltage()
  95
  96                         if ir_count == 0:
  97                                 self.get_dist_left()
  98                                 ir_count+=1
  99                         else:
 100                                 self.get_dist_right()
 101                                 ir_count=0
 102
 103                         if sonar_count == 0:
 104                                 self.get_dist_forward_left()
 105                                 self.update_dist_backward()
 106                                 sonar_count+=1
 107                         elif sonar_count == 1:
 108                                 self.get_dist_backward()
 109                                 self.update_dist_forward_right()
 110                                 sonar_count+=1
 111                         elif sonar_count == 2:
 112                                 self.get_dist_forward_right()
 113                                 self.update_dist_forward_left()
 114                                 sonar_count=0
 115
 116                         if self.cmd_vel != None:
 117                                 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
 118                                 self.cur_vel = self.cmd_vel
 119                                 self.cmd_vel = None
 120                         rate.sleep()
 121
 122         def execute_dyn_reconf(self, config, level):
 123                 self.bClipRangeSensor = config["range_sensor_clip"]
 124                 self.range_sensor_max = config["range_sensor_max"]
 125                 self.odom_covar_xy = config["odom_covar_xy"]
 126                 self.odom_covar_angle = config["odom_covar_angle"]
 127                 self.rollover_protect = config["rollover_protect"]
 128                 self.rollover_protect_limit = config["rollover_protect_limit"]
 129                 self.rollover_protect_pwm = config["rollover_protect_pwm"]
 130
 131                 return config
 132
 133         def imuReceived(self, msg):
 134                 if self.rollover_protect and any(self.cur_vel):
 135                         (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 136                         if pitch > self.rollover_protect_limit*pi/180:
 137                                 self.bMotorManual = True
 138                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
 139                                 rospy.logwarn("Running forward rollver protection")
 140                         elif pitch < -self.rollover_protect_limit*pi/180:
 141                                 self.bMotorManual = True
 142                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
 143                                 rospy.logwarn("Running backward rollver protection")
 144                         elif self.bMotorManual:
 145                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
 146                                 self.bMotorManual = False
 147                                 self.cmd_vel = (0, 0)
 148                                 rospy.logwarn("Rollver protection done")
 149
 150         def get_reset(self):
 151                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 152
 153                 msg = DiagnosticArray()
 154                 msg.header.stamp = rospy.Time.now()
 155                 stat = DiagnosticStatus()
 156                 stat.name = "Reset reason"
 157                 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
 158                 stat.message = "0x%02x" % reset
 159
 160                 wdrf = bool(reset & (1 << 3))
 161                 if wdrf: rospy.loginfo("Watchdog Reset")
 162                 borf = bool(reset & (1 << 2))
 163                 if borf: rospy.loginfo("Brown-out Reset Flag")
 164                 extrf = bool(reset & (1 << 1))
 165                 if extrf: rospy.loginfo("External Reset Flag")
 166                 porf = bool(reset & (1 << 0))
 167                 if porf: rospy.loginfo("Power-on Reset Flag")
 168                 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
 169                 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
 170                 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
 171                 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
 172
 173                 msg.status.append(stat)
 174                 self.pub_diag.publish(msg)
 175                 return reset
 176
 177
 178         def get_motor_err(self):
 179                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
 180
 181                 msg = DiagnosticArray()
 182                 msg.header.stamp = rospy.Time.now()
 183                 stat = DiagnosticStatus()
 184                 stat.name = "Motor: Error Status"
 185                 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
 186                 stat.message = "0x%02x" % err
 187
 188                 # Diag
 189                 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
 190                 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
 191                 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
 192                 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
 193                 # Stall
 194                 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
 195                 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
 196                 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
 197                 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
 198
 199                 msg.status.append(stat)
 200                 self.pub_diag.publish(msg)
 201
 202         def get_voltage(self):
 203                 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
 204
 205                 msg = DiagnosticArray()
 206                 msg.header.stamp = rospy.Time.now()
 207                 stat = DiagnosticStatus()
 208                 stat.name = "Voltage"
 209                 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
 210                 stat.message = "%.2fV" % volt
 211
 212                 msg.status.append(stat)
 213                 self.pub_diag.publish(msg)
 214
 215                 if self.pub_battery.get_num_connections() > 0:
 216                         batmsg = BatteryState()
 217                         batmsg.header.stamp = rospy.Time.now()
 218                         batmsg.voltage = volt
 219                         batmsg.current = float('nan')
 220                         batmsg.charge = float('nan')
 221                         batmsg.capacity = float('nan')
 222                         batmsg.design_capacity = 5.0
 223                         batmsg.percentage = float('nan')
 224                         batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
 225                         batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
 226                         batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
 227                         self.pub_battery.publish(batmsg)
 228
 229                 if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
 230                         rospy.logerr("Voltage critical: %.2fV" % (volt))
 231                         self.volt_last_warn = rospy.Time.now()
 232
 233
 234         def get_odom(self):
 235                 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
 236                 current_time = rospy.Time.now()
 237
 238                 # since all odometry is 6DOF we'll need a quaternion created from yaw
 239                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 240
 241                 # first, we'll publish the transform over tf
 242                 if self.tf_broadcaster is not None:
 243                         self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
 244
 245                 # next, we'll publish the odometry message over ROS
 246                 odom = Odometry()
 247                 odom.header.stamp = current_time
 248                 odom.header.frame_id = "odom"
 249
 250                 # set the position
 251                 odom.pose.pose.position.x = posx
 252                 odom.pose.pose.position.y = posy
 253                 odom.pose.pose.position.z = 0.0
 254                 odom.pose.pose.orientation.x = odom_quat[0]
 255                 odom.pose.pose.orientation.y = odom_quat[1]
 256                 odom.pose.pose.orientation.z = odom_quat[2]
 257                 odom.pose.pose.orientation.w = odom_quat[3]
 258                 odom.pose.covariance[0] = self.odom_covar_xy # x
 259                 odom.pose.covariance[7] = self.odom_covar_xy # y
 260                 odom.pose.covariance[14] = self.odom_covar_xy # z
 261                 odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
 262                 odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
 263                 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 264
 265                 # set the velocity
 266                 odom.child_frame_id = "base_footprint"
 267                 odom.twist.twist.linear.x = speed_trans
 268                 odom.twist.twist.linear.y = 0.0
 269                 odom.twist.twist.angular.z = speed_rot
 270                 odom.twist.covariance = odom.pose.covariance
 271
 272                 # publish the message
 273                 self.pub_odom.publish(odom)
 274
 275
 276         def set_speed(self, trans, rot):
 277                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 278
 279         def cmdVelReceived(self, msg):
 280                 if not self.bMotorManual:
 281                         rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
 282                         self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
 283                         rospy.logdebug("Set new cmd_vel done")
 284
 285         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 286         def get_dist_ir(self, num):
 287                 dev = i2c(0x52)
 288                 s = struct.pack("B", num)
 289                 dev.write(s)
 290                 dev.close()
 291
 292                 sleep(2e-6)
 293
 294                 dev = i2c(0x52)
 295                 s = dev.read(2)
 296                 dev.close()
 297
 298                 val = struct.unpack(">H", s)[0]
 299                 return val
 300
 301         def start_dist_srf(self, num):
 302                 dev = i2c(0x52)
 303                 s = struct.pack("B", num)
 304                 dev.write(s)
 305                 dev.close()
 306
 307         def read_dist_srf(self, num):
 308                 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 309
 310         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
 311                 if self.bClipRangeSensor and dist > max_range:
 312                         dist = max_range
 313                 msg = Range()
 314                 msg.header.stamp = rospy.Time.now()
 315                 msg.header.frame_id = frame_id
 316                 msg.radiation_type = typ
 317                 msg.field_of_view = fov_deg*pi/180
 318                 msg.min_range = min_range
 319                 msg.max_range = max_range
 320                 msg.range = dist
 321                 pub.publish(msg)
 322
 323         def get_dist_left(self):
 324                 if self.pub_range_left.get_num_connections() > 0:
 325                         dist = self.get_dist_ir(0x1)
 326                         if dist > -67:
 327                                 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
 328
 329         def get_dist_right(self):
 330                 if self.pub_range_right.get_num_connections() > 0:
 331                         dist = self.get_dist_ir(0x3)
 332                         if dist > 69:
 333                                 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
 334
 335         def get_dist_forward_left(self):
 336                 if self.pub_range_fwd_left.get_num_connections() > 0:
 337                         dist = self.read_dist_srf(0x15)
 338                         self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
 339
 340         def update_dist_forward_left(self):
 341                 if self.pub_range_fwd_left.get_num_connections() > 0:
 342                         self.start_dist_srf(0x5)
 343
 344         def get_dist_backward(self):
 345                 if self.pub_range_bwd.get_num_connections() > 0:
 346                         dist = self.read_dist_srf(0x17)
 347                         self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
 348
 349         def update_dist_backward(self):
 350                 if self.pub_range_bwd.get_num_connections() > 0:
 351                         self.start_dist_srf(0x7)
 352
 353         def get_dist_forward_right(self):
 354                 if self.pub_range_fwd_right.get_num_connections() > 0:
 355                         dist = self.read_dist_srf(0x19)
 356                         self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
 357
 358         def update_dist_forward_right(self):
 359                 if self.pub_range_fwd_right.get_num_connections() > 0:
 360                         self.start_dist_srf(0xb)
 361
 362         def led_stripe_received(self, msg):
 363                 for led in msg.leds:
 364                         self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
 365                         self.pStripe.update()
 366
 367
 368 if __name__ == "__main__":
 369         MoveBase()