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
21 def __init__(self, bus, device, num_leds):
22 self.spi = spidev.SpiDev()
23 self.spi.open(bus, device)
25 self.spi.max_speed_hz=int(2e6)
26 self.num_leds = num_leds
28 self.l = [(0, 0, 0)] * num_leds
31 def set(self, i, red=0, green=0, blue=0):
32 if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
33 raise Exception("Bad RGB Value")
34 self.l[i] = (red, green, blue)
37 self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
41 for i in range(self.num_leds):
42 red, green, blue = self.l[i]
43 l.append(0x80 | green)
46 self.spi.writebytes(l)
51 rospy.init_node('wild_thumper')
52 prctl.set_name("wild_thumper")
53 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
55 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
57 self.tf_broadcaster = None
58 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
59 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
60 self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
61 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
62 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
63 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
66 rospy.loginfo("Init done")
67 self.handicap_last = (-1, -1)
68 self.pStripe = LPD8806(1, 0, 12)
69 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
70 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
74 rate = rospy.Rate(20.0)
75 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
76 reset_val = self.get_reset()
77 rospy.loginfo("Reset Status: 0x%x" % reset_val)
79 while not rospy.is_shutdown():
80 #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
85 self.get_dist_forward()
88 self.get_dist_backward()
91 if self.cmd_vel != None:
92 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
97 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
99 msg = DiagnosticArray()
100 msg.header.stamp = rospy.Time.now()
101 stat = DiagnosticStatus()
102 stat.name = "Reset reason"
103 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
104 stat.message = "0x%02x" % reset
106 wdrf = bool(reset & (1 << 3))
107 if wdrf: rospy.loginfo("Watchdog Reset")
108 borf = bool(reset & (1 << 2))
109 if borf: rospy.loginfo("Brown-out Reset Flag")
110 extrf = bool(reset & (1 << 1))
111 if extrf: rospy.loginfo("External Reset Flag")
112 porf = bool(reset & (1 << 0))
113 if porf: rospy.loginfo("Power-on Reset Flag")
114 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
115 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
116 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
117 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
119 msg.status.append(stat)
120 self.pub_diag.publish(msg)
124 def get_tle_err(self):
125 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
127 msg = DiagnosticArray()
128 msg.header.stamp = rospy.Time.now()
129 stat = DiagnosticStatus()
130 stat.name = "Motor: Error Status"
131 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
132 stat.message = "0x%02x" % err
134 stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
135 stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
136 stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
137 stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
139 msg.status.append(stat)
140 self.pub_diag.publish(msg)
142 def get_voltage(self):
143 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
145 msg = DiagnosticArray()
146 msg.header.stamp = rospy.Time.now()
147 stat = DiagnosticStatus()
148 stat.name = "Voltage"
149 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
150 stat.message = "%.2fV" % volt
152 msg.status.append(stat)
153 self.pub_diag.publish(msg)
157 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
158 current_time = rospy.Time.now()
160 # since all odometry is 6DOF we'll need a quaternion created from yaw
161 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
163 # first, we'll publish the transform over tf
164 if self.tf_broadcaster is not None:
165 self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
167 # next, we'll publish the odometry message over ROS
169 odom.header.stamp = current_time
170 odom.header.frame_id = "odom"
173 odom.pose.pose.position.x = posx
174 odom.pose.pose.position.y = posy
175 odom.pose.pose.position.z = 0.0
176 odom.pose.pose.orientation.x = odom_quat[0]
177 odom.pose.pose.orientation.y = odom_quat[1]
178 odom.pose.pose.orientation.z = odom_quat[2]
179 odom.pose.pose.orientation.w = odom_quat[3]
180 odom.pose.covariance[0] = 1e-3 # x
181 odom.pose.covariance[7] = 1e-3 # y
182 odom.pose.covariance[14] = 1e6 # z
183 odom.pose.covariance[21] = 1e6 # rotation about X axis
184 odom.pose.covariance[28] = 1e6 # rotation about Y axis
185 odom.pose.covariance[35] = 0.03 # rotation about Z axis
188 odom.child_frame_id = "base_footprint"
189 odom.twist.twist.linear.x = speed_trans
190 odom.twist.twist.linear.y = 0.0
191 odom.twist.twist.angular.z = speed_rot
192 odom.twist.covariance[0] = 1e-3 # x
193 odom.twist.covariance[7] = 1e-3 # y
194 odom.twist.covariance[14] = 1e6 # z
195 odom.twist.covariance[21] = 1e6 # rotation about X axis
196 odom.twist.covariance[28] = 1e6 # rotation about Y axis
197 odom.twist.covariance[35] = 0.03 # rotation about Z axis
199 # publish the message
200 self.pub_odom.publish(odom)
203 def set_speed(self, trans, rot):
204 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
206 def cmdVelReceived(self, msg):
207 self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
209 # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
210 def get_dist_ir(self, num):
212 s = struct.pack("B", num)
222 val = struct.unpack(">H", s)[0]
225 def start_dist_srf(self, num):
227 s = struct.pack("B", num)
231 def read_dist_srf(self, num):
232 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
234 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
236 msg.header.stamp = rospy.Time.now()
237 msg.header.frame_id = frame_id
238 msg.radiation_type = typ
239 msg.field_of_view = fov_deg*pi/180
240 msg.min_range = min_range
241 msg.max_range = max_range
245 def get_dist_left(self):
246 if self.pub_range_left.get_num_connections() > 0:
247 dist = self.get_dist_ir(0x1)
249 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
251 def get_dist_right(self):
252 if self.pub_range_right.get_num_connections() > 0:
253 dist = self.get_dist_ir(0x3)
255 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
257 def get_dist_forward(self):
258 if self.pub_range_fwd.get_num_connections() > 0:
259 dist = self.read_dist_srf(0x15)
260 self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
261 self.start_dist_srf(0x5) # get next value
263 def get_dist_backward(self):
264 if self.pub_range_bwd.get_num_connections() > 0:
265 dist = self.read_dist_srf(0x17)
266 self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
267 self.start_dist_srf(0x7) # get next value
269 def led_stripe_received(self, msg):
271 self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
272 self.pStripe.update()
275 if __name__ == "__main__":