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)
69 self.bMotorManual = False
71 rospy.loginfo("Init done")
72 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
73 self.pStripe = LPD8806(1, 0, 12)
74 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
75 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
76 rospy.Subscriber("imu", Imu, self.imuReceived)
80 rate = rospy.Rate(20.0)
81 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
82 reset_val = self.get_reset()
83 rospy.loginfo("Reset Status: 0x%x" % reset_val)
85 while not rospy.is_shutdown():
86 rospy.logdebug("Loop alive")
87 #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
92 self.get_dist_forward()
95 self.get_dist_backward()
98 if self.cmd_vel != None:
99 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
100 self.cur_vel = self.cmd_vel
104 def execute_dyn_reconf(self, config, level):
105 self.bClipRangeSensor = config["range_sensor_clip"]
106 self.range_sensor_max = config["range_sensor_max"]
107 self.odom_covar_xy = config["odom_covar_xy"]
108 self.odom_covar_angle = config["odom_covar_angle"]
109 self.rollover_protect = config["rollover_protect"]
110 self.rollover_protect_limit = config["rollover_protect_limit"]
111 self.rollover_protect_pwm = config["rollover_protect_pwm"]
115 def imuReceived(self, msg):
116 if self.rollover_protect and any(self.cur_vel):
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")
133 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
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
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)))
155 msg.status.append(stat)
156 self.pub_diag.publish(msg)
160 def get_motor_err(self):
161 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
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
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)))))
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)))))
181 msg.status.append(stat)
182 self.pub_diag.publish(msg)
184 def get_voltage(self):
185 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
187 msg = DiagnosticArray()
188 msg.header.stamp = rospy.Time.now()
189 stat = DiagnosticStatus()
190 stat.name = "Voltage"
191 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
192 stat.message = "%.2fV" % volt
194 msg.status.append(stat)
195 self.pub_diag.publish(msg)
199 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
200 current_time = rospy.Time.now()
202 # since all odometry is 6DOF we'll need a quaternion created from yaw
203 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
205 # first, we'll publish the transform over tf
206 if self.tf_broadcaster is not None:
207 self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
209 # next, we'll publish the odometry message over ROS
211 odom.header.stamp = current_time
212 odom.header.frame_id = "odom"
215 odom.pose.pose.position.x = posx
216 odom.pose.pose.position.y = posy
217 odom.pose.pose.position.z = 0.0
218 odom.pose.pose.orientation.x = odom_quat[0]
219 odom.pose.pose.orientation.y = odom_quat[1]
220 odom.pose.pose.orientation.z = odom_quat[2]
221 odom.pose.pose.orientation.w = odom_quat[3]
222 odom.pose.covariance[0] = self.odom_covar_xy # x
223 odom.pose.covariance[7] = self.odom_covar_xy # y
224 odom.pose.covariance[14] = 99999 # z
225 odom.pose.covariance[21] = 99999 # rotation about X axis
226 odom.pose.covariance[28] = 99999 # rotation about Y axis
227 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
230 odom.child_frame_id = "base_footprint"
231 odom.twist.twist.linear.x = speed_trans
232 odom.twist.twist.linear.y = 0.0
233 odom.twist.twist.angular.z = speed_rot
234 odom.twist.covariance = odom.pose.covariance
236 # publish the message
237 self.pub_odom.publish(odom)
240 def set_speed(self, trans, rot):
241 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
243 def cmdVelReceived(self, msg):
244 if not self.bMotorManual:
245 rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
246 self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
247 rospy.logdebug("Set new cmd_vel done")
249 # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
250 def get_dist_ir(self, num):
252 s = struct.pack("B", num)
262 val = struct.unpack(">H", s)[0]
265 def start_dist_srf(self, num):
267 s = struct.pack("B", num)
271 def read_dist_srf(self, num):
272 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
274 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
275 if self.bClipRangeSensor and dist > max_range:
278 msg.header.stamp = rospy.Time.now()
279 msg.header.frame_id = frame_id
280 msg.radiation_type = typ
281 msg.field_of_view = fov_deg*pi/180
282 msg.min_range = min_range
283 msg.max_range = max_range
287 def get_dist_left(self):
288 if self.pub_range_left.get_num_connections() > 0:
289 dist = self.get_dist_ir(0x1)
291 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
293 def get_dist_right(self):
294 if self.pub_range_right.get_num_connections() > 0:
295 dist = self.get_dist_ir(0x3)
297 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
299 def get_dist_forward(self):
300 if self.pub_range_fwd.get_num_connections() > 0:
301 dist = self.read_dist_srf(0x15)
302 self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
303 self.start_dist_srf(0x5) # get next value
305 def get_dist_backward(self):
306 if self.pub_range_bwd.get_num_connections() > 0:
307 dist = self.read_dist_srf(0x17)
308 self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
309 self.start_dist_srf(0x7) # get next value
311 def led_stripe_received(self, msg):
313 self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
314 self.pStripe.update()
317 if __name__ == "__main__":