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 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
  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 = 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)
  67                 self.cmd_vel = None
  68                 self.set_speed(0, 0)
  69                 rospy.loginfo("Init done")
  70                 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
  71                 self.handicap_last = (-1, -1)
  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)
  76                 self.run()
  77
  78         def run(self):
  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)
  83                 i = 0
  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
  87                         self.get_motor_err()
  88                         self.get_odom()
  89                         self.get_voltage()
  90                         if i % 2:
  91                                 self.get_dist_forward()
  92                                 self.get_dist_left()
  93                         else:
  94                                 self.get_dist_backward()
  95                                 self.get_dist_right()
  96                         i+=1
  97                         if self.cmd_vel != None:
  98                                 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
  99                                 self.cmd_vel = None
 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.odom_covar_xy = config["odom_covar_xy"]
 106                 self.odom_covar_angle = config["odom_covar_angle"]
 107                 self.pitch_handicap_enable = config["pitch_handicap_enable"]
 108                 self.pitch_handicap_limit = config["pitch_handicap_limit"]
 109                 self.pitch_handicap_strength = 100-config["pitch_handicap_strength"]
 110
 111                 if not self.pitch_handicap_enable:
 112                         self.set_motor_handicap(0, 0)
 113
 114                 return config
 115
 116         def set_motor_handicap(self, front, aft): # percent
 117                 if front > 100: front = 100
 118                 if aft > 100: aft = 100
 119                 if self.handicap_last != (front, aft):
 120                         i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
 121                         self.handicap_last = (front, aft)
 122
 123         def imuReceived(self, msg):
 124                 if self.pitch_handicap_enable:
 125                         (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
 126                         if pitch > self.pitch_handicap_limit*pi/180:
 127                                 val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
 128                                 self.set_motor_handicap(int(val), 0)
 129                         elif pitch < -self.pitch_handicap_limit*pi/180:
 130                                 val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
 131                                 self.set_motor_handicap(0, int(val))
 132                         else:
 133                                 self.set_motor_handicap(0, 0)
 134
 135         def get_reset(self):
 136                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 137
 138                 msg = DiagnosticArray()
 139                 msg.header.stamp = rospy.Time.now()
 140                 stat = DiagnosticStatus()
 141                 stat.name = "Reset reason"
 142                 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
 143                 stat.message = "0x%02x" % reset
 144
 145                 wdrf = bool(reset & (1 << 3))
 146                 if wdrf: rospy.loginfo("Watchdog Reset")
 147                 borf = bool(reset & (1 << 2))
 148                 if borf: rospy.loginfo("Brown-out Reset Flag")
 149                 extrf = bool(reset & (1 << 1))
 150                 if extrf: rospy.loginfo("External Reset Flag")
 151                 porf = bool(reset & (1 << 0))
 152                 if porf: rospy.loginfo("Power-on Reset Flag")
 153                 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
 154                 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
 155                 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
 156                 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
 157
 158                 msg.status.append(stat)
 159                 self.pub_diag.publish(msg)
 160                 return reset
 161
 162
 163         def get_motor_err(self):
 164                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
 165
 166                 msg = DiagnosticArray()
 167                 msg.header.stamp = rospy.Time.now()
 168                 stat = DiagnosticStatus()
 169                 stat.name = "Motor: Error Status"
 170                 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
 171                 stat.message = "0x%02x" % err
 172
 173                 # Diag
 174                 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
 175                 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
 176                 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
 177                 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
 178                 # Stall
 179                 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
 180                 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
 181                 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
 182                 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
 183
 184                 msg.status.append(stat)
 185                 self.pub_diag.publish(msg)
 186
 187         def get_voltage(self):
 188                 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
 189
 190                 msg = DiagnosticArray()
 191                 msg.header.stamp = rospy.Time.now()
 192                 stat = DiagnosticStatus()
 193                 stat.name = "Voltage"
 194                 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
 195                 stat.message = "%.2fV" % volt
 196
 197                 msg.status.append(stat)
 198                 self.pub_diag.publish(msg)
 199
 200
 201         def get_odom(self):
 202                 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
 203                 current_time = rospy.Time.now()
 204
 205                 # since all odometry is 6DOF we'll need a quaternion created from yaw
 206                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 207
 208                 # first, we'll publish the transform over tf
 209                 if self.tf_broadcaster is not None:
 210                         self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
 211
 212                 # next, we'll publish the odometry message over ROS
 213                 odom = Odometry()
 214                 odom.header.stamp = current_time
 215                 odom.header.frame_id = "odom"
 216
 217                 # set the position
 218                 odom.pose.pose.position.x = posx
 219                 odom.pose.pose.position.y = posy
 220                 odom.pose.pose.position.z = 0.0
 221                 odom.pose.pose.orientation.x = odom_quat[0]
 222                 odom.pose.pose.orientation.y = odom_quat[1]
 223                 odom.pose.pose.orientation.z = odom_quat[2]
 224                 odom.pose.pose.orientation.w = odom_quat[3]
 225                 odom.pose.covariance[0] = self.odom_covar_xy # x
 226                 odom.pose.covariance[7] = self.odom_covar_xy # y
 227                 odom.pose.covariance[14] = 99999 # z
 228                 odom.pose.covariance[21] = 99999 # rotation about X axis
 229                 odom.pose.covariance[28] = 99999 # rotation about Y axis
 230                 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 231
 232                 # set the velocity
 233                 odom.child_frame_id = "base_footprint"
 234                 odom.twist.twist.linear.x = speed_trans
 235                 odom.twist.twist.linear.y = 0.0
 236                 odom.twist.twist.angular.z = speed_rot
 237                 odom.twist.covariance = odom.pose.covariance
 238
 239                 # publish the message
 240                 self.pub_odom.publish(odom)
 241
 242
 243         def set_speed(self, trans, rot):
 244                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 245
 246         def cmdVelReceived(self, msg):
 247                 rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
 248                 self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
 249                 rospy.logdebug("Set new cmd_vel done")
 250
 251         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 252         def get_dist_ir(self, num):
 253                 dev = i2c(0x52)
 254                 s = struct.pack("B", num)
 255                 dev.write(s)
 256                 dev.close()
 257
 258                 sleep(2e-6)
 259
 260                 dev = i2c(0x52)
 261                 s = dev.read(2)
 262                 dev.close()
 263
 264                 val = struct.unpack(">H", s)[0]
 265                 return val
 266
 267         def start_dist_srf(self, num):
 268                 dev = i2c(0x52)
 269                 s = struct.pack("B", num)
 270                 dev.write(s)
 271                 dev.close()
 272
 273         def read_dist_srf(self, num):
 274                 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 275
 276         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
 277                 if self.bClipRangeSensor and dist > max_range:
 278                         dist = max_range
 279                 msg = Range()
 280                 msg.header.stamp = rospy.Time.now()
 281                 msg.header.frame_id = frame_id
 282                 msg.radiation_type = typ
 283                 msg.field_of_view = fov_deg*pi/180
 284                 msg.min_range = min_range
 285                 msg.max_range = max_range
 286                 msg.range = dist
 287                 pub.publish(msg)
 288
 289         def get_dist_left(self):
 290                 if self.pub_range_left.get_num_connections() > 0:
 291                         dist = self.get_dist_ir(0x1)
 292                         if dist > -67:
 293                                 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
 294
 295         def get_dist_right(self):
 296                 if self.pub_range_right.get_num_connections() > 0:
 297                         dist = self.get_dist_ir(0x3)
 298                         if dist > 69:
 299                                 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
 300
 301         def get_dist_forward(self):
 302                 if self.pub_range_fwd.get_num_connections() > 0:
 303                         dist = self.read_dist_srf(0x15)
 304                         self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
 305                         self.start_dist_srf(0x5) # get next value
 306
 307         def get_dist_backward(self):
 308                 if self.pub_range_bwd.get_num_connections() > 0:
 309                         dist = self.read_dist_srf(0x17)
 310                         self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
 311                         self.start_dist_srf(0x7) # get next value
 312
 313         def led_stripe_received(self, msg):
 314                 for led in msg.leds:
 315                         self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
 316                         self.pStripe.update()
 317
 318
 319 if __name__ == "__main__":
 320         MoveBase()